def pca(Y, input_dim):
    """
    Principal component analysis: maximum likelihood solution by SVD

    :param Y: NxD np.array of data
    :param input_dim: int, dimension of projection


    :rval X: - Nxinput_dim np.array of dimensionality reduced data
    :rval W: - input_dimxD mapping from X to Y

    """
    if not np.allclose(Y.mean(axis=0), 0.0):
        print("Y is not zero mean, centering it locally (GPy.util.linalg.pca)")

        # Y -= Y.mean(axis=0)

    Z = linalg.svd(Y - Y.mean(axis=0), full_matrices=False)
    [X, W] = [Z[0][:, 0:input_dim], np.dot(np.diag(Z[1]), Z[2]).T[:, 0:input_dim]]
    v = X.std(axis=0)
    X /= v
    W *= v
    return X, W.T
Principal component analysis: maximum likelihood solution by SVD

    :param Y: NxD np.array of data
    :param input_dim: int, dimension of projection


    :rval X: - Nxinput_dim np.array of dimensionality reduced data
    :rval W: - input_dimxD mapping from X to Y