Pull all the changes made to CF in order for PICO to work #74
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This PR is to extract all the changes made to CF during development of PICO.
Some of the changes may not have been thoroughly considered, so it's quite possible that some changes do not make sense. If that happens, we should rework PICO to revert the corresponding change or find a proper solution.
PS. Viewpoint adapter change is already merged, so no need to repeat it again.