Because the second sentence refers to the first, I was first tempted to splice them with a semicolon, but it doesn't work. A colon or hyphen would be better. I'd also separate the point of view from the action with a comma, and once again after "yet" because that that's a time frame point of view. I end up with:
From here, I can see life unfolding in all its complexity, and yet, how many of the people in the streets far below are aware of the events that will occur in the next ten minutes - events which could determine and shape the rest of their lives.
I wouldn't put a question mark, simply because - as Emma pointed out - it's rhetorical, so more of a statement than a genuine question.
I love these things. It usually comes down to personal preference rather than set rules... to a degree
Colin M