Added to 3D view user switching between local and global coordinate system. Fixed bug in WaypointView: new instance used to assume frame is global.

Fixed imagery rendering issues. Robot position in Pixhawk3DWidget is now derived from the global pose (lat/lon/alt) instead of the local pose.

Added visualization of point cloud data from Kinect camera. Colorized point cloud visualization to follow soon.

corrected a compile warning in Wayppoint.cc, made adaptions to Freenect for the current revision of the code (update libfreenect repository!), commented out pixhawk poi mavlink code - needs fixing