fixed some waypoint initialization problems (action and frame were not updated correctly in the waypoint list when read from the waypointplanner

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

Changed status message in qgroundcontrol.pro, fixed compile error in class Freenect (void* did not work)