Assuming your array has float, now you can identify all the columns that are NaN and use fancy indexing to fetch the others:
d
array([[ 182., 93., 107., nan, nan, -1.],
[ 182., 93., 107., 4., nan, -1.],
[ 182., 93., 110., nan, nan, -1.],
[ 188., 95., 112., nan, nan, -1.],
[ 188., 97., 115., nan, nan, -1.],
[ 188., 95., 112., nan, nan, -1.]])
d[:,~np.all(np.isnan(d), axis=0)]
array([[ 182., 93., 107., nan, -1.],
[ 182., 93., 107., 4., -1.],
[ 182., 93., 110., nan, -1.],
[ 188., 95., 112., nan, -1.],
[ 188., 97., 115., nan, -1.],
[ 188., 95., 112., nan, -1.]])