def from_homog(homog_pts):
    """
    converts [D + 1, :] -> [D, :]

    Args:
        pts (ndarray): in format [(D + 1) x N] where N is the number of points
            and (D + 1) is the homogenous dimensionality

    Example:
        >>> homog_pts = np.array([[1, 2, 3, 4, 5],
        >>>                       [1, 2, 3, 4, 5],
        >>>                       [1, 1, 1, 1, 1]])
        >>> from_homog(homog_pts)
        array([[ 1.,  2.,  3.,  4.,  5.],
               [ 1.,  2.,  3.,  4.,  5.]])
    """
    pts = homog_pts[:-1] / homog_pts[-1][None, :]
    return pts