CameraUtils is an addon, and must be imported explicitly, see Installation#Addons.
import * as CameraUtils from 'three/addons/utils/CameraUtils.js';
Set projection matrix and the orientation of a perspective camera to exactly frame the corners of an arbitrary rectangle. NOTE: This function ignores the standard parameters; do not call updateProjectionMatrix() after this.
camera
The camera.
bottomLeftCorner
The bottom-left corner point.
bottomRightCorner
The bottom-right corner point.
topLeftCorner
The top-left corner point.
estimateViewFrustum
If set to true, the function tries to estimate the camera's FOV.
Default is false.