Waypoints & Warp Gates
To unlock a waypoint you must first visit the location you want to warp to, for towns you must click on the warp gate, for dungeons and fields you must walk into a certain part of the map.
Using Warp Gates
The Gate cost 1 gemstone to warp, warping with Daily Login Bonus active is free, color depends on warp type. Town cost 1 Blue Gemstone, Field Cost 1 Yellow Gemstone and Dungeon cost 1 Red Gemstone.
... Odin Temple warp isn't at entrance at boat, it is near the middle of the map.