code: def lfilter(b, a, x, axis=-1, zi=None):
      """
      Filter data along one-dimension with an IIR or FIR filter.
  
      Filter a data sequence, `x`, using a digital filter.  This works for many
      fundamental data types (including Object type).  The filter is a direct
      form II transposed implementation of the standard difference equation
      (see Notes).
  
      Parameters
      ----------
      b : array_like
          The numerator coefficient vector in a 1-D sequence.
      a : array_like
          The denominator coefficient vector in a 1-D sequence.  If ``a[0]``
          is not 1, then both `a` and `b` are normalized by ``a[0]``.
      x : array_like
          An N-dimensional input array.
      axis : int, optional
          The axis of the input data array along which to apply the
          linear filter. The filter is applied to each subarray along
          this axis.  Default is -1.
      zi : array_like, optional
          Initial conditions for the filter delays.  It is a vector
          (or array of vectors for an N-dimensional input) of length
          ``max(len(a), len(b)) - 1``.  If `zi` is None or is not given then
          initial rest is assumed.  See `lfiltic` for more information.
  
      Returns
      -------
      y : array
          The output of the digital filter.
      zf : array, optional
          If `zi` is None, this is not returned, otherwise, `zf` holds the
          final filter delay values.
  
      See Also
      --------
      lfiltic : Construct initial conditions for `lfilter`.
      lfilter_zi : Compute initial state (steady state of step response) for
                   `lfilter`.
      filtfilt : A forward-backward filter, to obtain a filter with linear phase.
      savgol_filter : A Savitzky-Golay filter.
      sosfilt: Filter data using cascaded second-order sections.
      sosfiltfilt: A forward-backward filter using second-order sections.
  
      Notes
      -----
      The filter function is implemented as a direct II transposed structure.
      This means that the filter implements::
  
         a[0]*y[n] = b[0]*x[n] + b[1]*x[n-1] + ... + b[M]*x[n-M]
                               - a[1]*y[n-1] - ... - a[N]*y[n-N]
  
      where `M` is the degree of the numerator, `N` is the degree of the
      denominator, and `n` is the sample number.  It is implemented using
      the following difference equations (assuming M = N)::
  
           a[0]*y[n] = b[0] * x[n]               + d[0][n-1]
             d[0][n] = b[1] * x[n] - a[1] * y[n] + d[1][n-1]
             d[1][n] = b[2] * x[n] - a[2] * y[n] + d[2][n-1]
           ...
           d[N-2][n] = b[N-1]*x[n] - a[N-1]*y[n] + d[N-1][n-1]
           d[N-1][n] = b[N] * x[n] - a[N] * y[n]
  
      where `d` are the state variables.
  
      The rational transfer function describing this filter in the
      z-transform domain is::
  
                               -1              -M
                   b[0] + b[1]z  + ... + b[M] z
           Y(z) = -------------------------------- X(z)
                               -1              -N
                   a[0] + a[1]z  + ... + a[N] z
  
      Examples
      --------
      Generate a noisy signal to be filtered:
  
      >>> from scipy import signal
      >>> import matplotlib.pyplot as plt
      >>> t = np.linspace(-1, 1, 201)
      >>> x = (np.sin(2*np.pi*0.75*t*(1-t) + 2.1) +
      ...      0.1*np.sin(2*np.pi*1.25*t + 1) +
      ...      0.18*np.cos(2*np.pi*3.85*t))
      >>> xn = x + np.random.randn(len(t)) * 0.08
  
      Create an order 3 lowpass butterworth filter:
  
      >>> b, a = signal.butter(3, 0.05)
  
      Apply the filter to xn.  Use lfilter_zi to choose the initial condition of
      the filter:
  
      >>> zi = signal.lfilter_zi(b, a)
      >>> z, _ = signal.lfilter(b, a, xn, zi=zi*xn[0])
  
      Apply the filter again, to have a result filtered at an order the same as
      filtfilt:
  
      >>> z2, _ = signal.lfilter(b, a, z, zi=zi*z[0])
  
      Use filtfilt to apply the filter:
  
      >>> y = signal.filtfilt(b, a, xn)
  
      Plot the original signal and the various filtered versions:
  
      >>> plt.figure
      >>> plt.plot(t, xn, 'b', alpha=0.75)
      >>> plt.plot(t, z, 'r--', t, z2, 'r', t, y, 'k')
      >>> plt.legend(('noisy signal', 'lfilter, once', 'lfilter, twice',
      ...             'filtfilt'), loc='best')
      >>> plt.grid(True)
      >>> plt.show()
  
      """
      a = np.atleast_1d(a)
      if len(a) == 1:
          # This path only supports types fdgFDGO to mirror _linear_filter below.
          # Any of b, a, x, or zi can set the dtype, but there is no default
          # casting of other types; instead a NotImplementedError is raised.
          b = np.asarray(b)
          a = np.asarray(a)
          if b.ndim != 1 and a.ndim != 1:
              raise ValueError(
                  "object of too small depth for desired array"
              )
          x = np.asarray(x)
          inputs = [b, a, x]
          if zi is not None:
              # _linear_filter does not broadcast zi, but does do expansion of
              # singleton dims.
              zi = np.asarray(zi)
              if zi.ndim != x.ndim:
                  raise ValueError(
                      "object of too small depth for desired array"
                  )
              expected_shape = list(x.shape)
              expected_shape[axis] = b.shape[0] - 1
              expected_shape = tuple(expected_shape)
              # check the trivial case where zi is the right shape first
              if zi.shape != expected_shape:
                  strides = zi.ndim * [None]
                  if axis < 0:
                      axis += zi.ndim
                  for k in range(zi.ndim):
                      if k == axis and zi.shape[k] == expected_shape[k]:
                          strides[k] = zi.strides[k]
                      elif (
                          k != axis and zi.shape[k] == expected_shape[k]
                      ):
                          strides[k] = zi.strides[k]
                      elif k != axis and zi.shape[k] == 1:
                          strides[k] = 0
                      else:
                          raise ValueError(
                              "Unexpected shape for zi: expected "
                              "%s, found %s."
                              % (expected_shape, zi.shape)
                          )
                  zi = np.lib.stride_tricks.as_strided(
                      zi, expected_shape, strides
                  )
              inputs.append(zi)
          dtype = np.result_type(*inputs)
  
          if dtype.char not in "fdgFDGO":
              raise NotImplementedError(
                  "input type '%s' not supported" % dtype
              )
  
          b = np.array(b, dtype=dtype)
          a = np.array(a, dtype=dtype, copy=False)
          b /= a[0]
          x = np.array(x, dtype=dtype, copy=False)
  
          out_full = np.apply_along_axis(
              lambda y: np.convolve(b, y), axis, x
          )
          ind = out_full.ndim * [slice(None)]
          if zi is not None:
              ind[axis] = slice(zi.shape[axis])
              out_full[tuple(ind)] += zi
  
          ind[axis] = slice(out_full.shape[axis] - len(b) + 1)
          out = out_full[tuple(ind)]
  
          if zi is None:
              return out
          else:
              ind[axis] = slice(out_full.shape[axis] - len(b) + 1, None)
              zf = out_full[tuple(ind)]
              return out, zf
      else:
          if zi is None:
              return sigtools._linear_filter(b, a, x, axis)
          else:
              return sigtools._linear_filter(b, a, x, axis, zi)
  
imports: from __future__ import division, print_function, absolute_import
  import operator
  import threading
  import sys
  import timeit
  from scipy.spatial import cKDTree
  from .None import sigtools, dlti
  from ._upfirdn import upfirdn, _output_len
  from scipy._lib.six import callable
  from scipy._lib._version import NumpyVersion
  from scipy import fftpack, linalg
  from scipy.fftpack.helper import _init_nd_shape_and_axes_sorted
  from numpy import allclose, angle, arange, argsort, array, asarray, atleast_1d, atleast_2d, cast, dot, exp, expand_dims, iscomplexobj, mean, ndarray, newaxis, ones, pi, poly, polyadd, polyder, polydiv, polymul, polysub, polyval, product, r_, ravel, real_if_close, reshape, roots, sort, take, transpose, unique, where, zeros, zeros_like
  import numpy
  import math
  from scipy.special import factorial
  from .windows import get_window
  from ._arraytools import axis_slice, axis_reverse, odd_ext, even_ext, const_ext
  from .filter_design import cheby1, _validate_sos
  from .fir_filter_design import firwin
label_desc: Use image node_id 21 for calling a global function with example usage: lfilter(b, a, x, axis, zi) and returns: out, out,  zf, sigtools, sigtools