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Easy way to find it is to call printf() in every function and let it print a function-related string(like "main while loop")...if you repeat that step you'll finally find the line of code that results in the error an can ask for further help.

First guess:

void updateVis(boost::shared_ptr<pcl::visualization::pclvisualizer> viewer, pcl::PointCloud<pcl::pointxyzrgb>::ConstPtr cloud){
pcl::visualization::PointCloudColorHandlerRGBField<pcl::pointxyzrgb> rgb(cloud);
viewer->removePointCloud();
viewer->addPointCloud<pcl::pointxyzrgb> (cloud, rgb); viewer->spinOnce(); }

ensure removePointCloud() gives the memory free...maybe check there for the mistake...