本文介绍了一项机器人学专项课程中的感知任务——Dolly Zoom，即滑动变焦技术的应用和实现过程，探讨了机器人视觉中的空间感知和图像变换技巧。
function [ f ] = compute_focal_length( d_ref, f_ref, pos )
%% Compute camera focal length with given camera position.
%
% In this function, multiple camera positions will be given. The camera is
% placed on z axis and thus only z axis for the camera position is given.
% We'll need to compute corresponding focal length to achieve Dolly Zoom
% effect for each camera position.
%
% Input:
% - d_ref: 1 by 1 double, distance of the object whose size remains constant
% - f_ref: 1 by 1
%% Compute camera focal length with given camera position.
%
% In this function, multiple camera positions will be given. The camera is
% placed on z axis and thus only z axis for the camera position is given.
% We'll need to compute corresponding focal length to achieve Dolly Zoom
% effect for each camera position.
%
% Input:
% - d_ref: 1 by 1 double, distance of the object whose size remains constant
% - f_ref: 1 by 1
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