  from cereal.services import service_list
  from common.transformations.orientation import rotations_from_quats, ecef_euler_from_ned, euler2quat, ned_euler_from_ecef, quat2euler
  import common.transformations.coordinates as coord
  
  import laika.raw_gnss as gnss
  from laika.astro_dog import AstroDog
  
  from selfdrive.locationd.kalman.loc_kf import LocKalman
  from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
  os.environ["OMP_NUM_THREADS"] = "1"
  
  
  class Localizer():
 
</s> remove from cereal.services import service_list
 </s> add  </s> remove 
class LiveKalman():
  def __init__(self, N=0, max_tracks=3000):
    x_initial = np.array([-2.7e6, 4.2e6, 3.8e6,
                          1, 0, 0, 0,
                          0, 0, 0,
                          0, 0, 0,
                          0, 0, 0,
                          1,
                          0, 0, 0,
                          0, 0, 0])

    # state covariance
    P_initial = np.diag([10000**2, 10000**2, 10000**2,
 </s> add initial_x = np.array([-2.7e6, 4.2e6, 3.8e6,
                       1, 0, 0, 0,
                       0, 0, 0,
                       0, 0, 0,
                       0, 0, 0,
                       1,
                       0, 0, 0,
                       0, 0, 0])


# state covariance
initial_P_diag = np.array([10000**2, 10000**2, 10000**2, </s> remove     self.kf = LocKalman(0)
 </s> add     self.kf = LiveKalman() </s> remove     if dog:
      self.dog = dog
    else:
      self.dog = AstroDog(auto_update=True)
 </s> add 
from selfdrive.locationd.kalman.live_kf import LiveKalman, States, inital_x, initial_P_diag
  from cereal.services import service_list
  from common.transformations.orientation import rotations_from_quats, ecef_euler_from_ned, euler2quat, ned_euler_from_ecef, quat2euler
  import common.transformations.coordinates as coord
  
from selfdrive.locationd.kalman.live_kf import LiveKalman, States, inital_x, initial_P_diag
from selfdrive.locationd.kalman.live_kf import LiveKalman, States, inital_x, initial_P_diag
from selfdrive.locationd.kalman.live_kf import LiveKalman, States, inital_x, initial_P_diag
from selfdrive.locationd.kalman.live_kf import LiveKalman, States, inital_x, initial_P_diag
  from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
  os.environ["OMP_NUM_THREADS"] = "1"
  
  
  class Localizer():
keep keep keep keep replace replace replace replace keep keep keep keep keep
 get ready for live localizer 
selfdrive/locationd/locationd.py