Displaying a 3D pointcloud within a ROS node

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Hi,

I have a ROS node subscribing to a pointcloud on the /camera/depth_registered/points topic from a RealSense camera. Inside the callback function, I convert this PointCloud2 ROS message to a PCL pointcloud and attempt to display it. When I run this node, the pointcloud displays properly for about 10seconds (I can change the view, zoom etc.) then my computer hangs. Since I am using a smart pointer, I expect this to be automatically deleted. I tested the PCL pcl_visualizer_demo.cpp code and it works just fine (but this is not integrated with ROS).

I would really appreciate some help with this! I have pasted my code below:

boost::shared_ptr<pcl::visualization::PCLVisualizer> rgbVis (pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr cloud)
{
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
    viewer->setBackgroundColor (0, 0, 0);
    pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(cloud);
    viewer->addPointCloud<pcl::PointXYZRGB> (cloud, rgb, "sample cloud");
    viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
    viewer->addCoordinateSystem (1.0);
    viewer->initCameraParameters ();
    return (viewer);
}

void viewerRunner(boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer)
{
    while (!viewer->wasStopped ())
    {
        viewer->spinOnce (100);
        boost::this_thread::sleep (boost::posix_time::microseconds (100000));
    }
}

The callback and main function:

void posesCallback(const sensor_msgs::PointCloud2ConstPtr& cloud)
{
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr pcl_cloud (new pcl::PointCloud<pcl::PointXYZRGB>); 
    pcl::fromROSMsg(*cloud, *pcl_cloud);
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
    viewer = rgbVis(pcl_cloud);
    viewerRunner(viewer);
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "Vo3D");
    ros::NodeHandle nh;
    ROS_INFO("About to enter %s" , "Callback");
    ros::Subscriber sub = nh.subscribe<sensor_msgs::PointCloud2>("/camera/depth_registered/points", 1000, posesCallback);
    ros::spin();
    return 0;
}