def convert_points_from_homogeneous(points):
    """Converts 3D points from the homogeneous coordinate

    Args:
        points (numpy.ndarray): The points to convert. It should a 2D array with
            shape 4 x num_points.

    Returns:
        numpy.ndarray: Non-homogeneous points. A 2D array with shape
        3 x num_points.

    """
    return points[:3, :]