code: def unproject_meshgrid(
      height: int,
      width: int,
      camera_matrix: Tensor,
      normalize_points: bool = False,
      device: Optional[torch.device] = None,
      dtype: Optional[torch.dtype] = None,
  ) -> Tensor:
      """Compute a 3d point per pixel given its depth value and the camera intrinsics.
  
      .. tip::
  
          This function should be used in conjunction with :py:func:`kornia.geometry.depth.depth_to_3d_v2` to cache
          the meshgrid computation when warping multiple frames with the same camera intrinsics.
  
      Args:
          camera_matrix: tensor containing the camera intrinsics with shape :math:`(3, 3)`.
          normalize_points: whether to normalize the pointcloud. This must be set to `True` when the depth is
            represented as the Euclidean ray length from the camera position.
  
      Return:
          tensor with a 3d point per pixel of the same resolution as the input :math:`(*, H, W, 3)`.
      """
      KORNIA_CHECK_SHAPE(camera_matrix, ["3", "3"])
  
      # create base coordinates grid
      points_uv: Tensor = create_meshgrid(
          height,
          width,
          normalized_coordinates=False,
          device=device,
          dtype=dtype,
      ).squeeze()  # HxWx2
  
      points_xy = normalize_points_with_intrinsics(
          points_uv, camera_matrix
      )  # HxWx2
  
      # unproject pixels to camera frame
      points_xyz = convert_points_to_homogeneous(points_xy)  # HxWx3
  
      if normalize_points:
          points_xyz = kornia_ops.normalize(points_xyz, dim=-1, p=2)
  
      return points_xyz
  
imports: from __future__ import annotations
  from typing import Optional
  import torch
  import kornia.core
  from kornia.core import Module, Tensor, tensor
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_IS_TENSOR, KORNIA_CHECK_SHAPE
  from kornia.filters.sobel import spatial_gradient
  from kornia.utils import create_meshgrid
  from kornia.utils.helpers import deprecated
  from .camera import PinholeCamera, cam2pixel, pixel2cam, project_points, unproject_points
  from .conversions import normalize_pixel_coordinates, normalize_points_with_intrinsics
  from .linalg import compose_transformations, convert_points_to_homogeneous, inverse_transformation, transform_points
label_desc: Use image node_id 1 for calling a global function with example usage: unproject_meshgrid(height, width, camera_matrix, normalize_points, device, dtype) and returns: points_xyz