How to get intrinsic and extrinsic matrices of the camera?

Omniverse Isaac Sim
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from omni.isaac.sensor import Camera
world_position=[0.8553494441923443, 1.7111733924221697, 7.458054174324833]
world_quat_wxyz=[0.7119477391242985, -0.015431761455831894, 0.01521392975313006, -0.7018980081433747]
camera_path="/World/vedio_cubecamera"
camera = Camera(prim_path = camera_path, resolution = (2048,1080), 
                             position = world_position, 
                             orientation = world_quat_wxyz)

I define a camera as above. I need to convert the world coordinate to pixel coordinate, so how can i get the camera intrinsic and extrinsic matrices?

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or how can i get the bounding box of the object in the camera? since i want to use it for computer vision tracking task