def homogeneous_to_euclidean(xh):
    """
    Transforms X to be in euclidean coordinates

    Parameters
    ----------
    x: numpy array (3,N), (4,N)
    each column of the array is a point

    Returns
    -------
    xh: numpy array,
    x in homogeneous coordinates
    """

    return xh[0:-1, :]/xh[-1, :]