Undefined function or variable 'worldToImage'

I'm trying to use the MATLAB function worldToImage

>> worldToImage
Undefined function or variable 'worldToImage'.

I'm using the following version of MATLAB

>> version
ans =
    '9.4.0.813654 (R2018a)'

I have the Computer Vision System Toolbox Installed.

[per isakson]

See worldToImage, Project world points into image

worldToImage is a method of the class, cameraParameters

>> methods(cameraParameters)

Methods for class cameraParameters:

cameraParameters                   worldToImage                       
pointsToWorld                      
toStruct

[carpetfizz]

Accepted.