I'm really not sure what relevance the "photo taken from a known position" has. That we see wide angle distortion or telephoto compression in images is completely independent of whether we know the camera position or not.
So if we look at the definition, that the term "telephoto compression" describes an effect where photos of distant objects appear to be compressed when we view them from a point in front of the centre of perspective.
It's an apparent effect that is fundamentally based on us misinterpreting the perspective in an image, apparent because there is no change in the perspective captured in the photo, it remains constant, all that changes is our interpretation of that perspective. So we see "telephoto compression" when we make an error of judgement that appears to change relative to our viewing distance.
Ok, we have a camera on a tripod and we take two pics, one with a 200mm lens one with a 24mm lens. We view both as A4 prints, so as to see two photos of exactly the same perspective (true perspective as defined by camera position) at different magnifications. We see the perspective in the magnfied image (200mm) as compressed and the perspective of distant objects in the wide angle shot as stretched.
This suggests there is a null point where our perception switches from compressed to stretched, but let's see if we can nail this definition of normal down a little further.
It just so happens that my photography career never took off and I'm actually taking these photos of a lovely country scene from my burger van at the side of a road. So my wide angle shot includes the counter of my burger bar where there are circular objects such as a sugar bowl and a few cups in the corner. They are distinctly oval in the shot, in fact their tru perspective as per the rules of geometry is for them to be rendered as oval.
But if I put my nose against my photo and view it from the centre of perspective that distortion disappears and I clearly see those shapes as being perfectly circular.
I think we should unpack that last statement because it suggests something that so far nobody is seeming to acknowledge. When we view our wide angle shot from the centre of perspective we do not see the objects at the edge in their true perspective, as the maths of image geometry predicts any object must be rendered on a 2D plane when viewed from a single point in space.
We form an understanding of the true and absolute shape of those objects.
Is that confined to the edges of wide angle shots, or does it apply to complete photos in general?
So we are at a point where we could also say that when we view an image from the centre of perspective we are viewing that image from the same relative position that we view the real 3D world, and from that position our ability to see through the distortion caused by the perspective dictated by a single viewpoint in the real 3D world aligns with that of the image, and so we see normal.
If you're still having trouble, try this:
The thing about a 2D photo is that the true perspective as defined by camera position is baked absolutely firm and unchanging within the image. So if our eyesight was absolute then we must see a photo exactly as it is, and always exactly as it is.
That we actually see different perspectives at different magnifications in images is a clear indication that human perception of perspective varies with the assumption of distance, the shape we see changes depending on the assumption of the distance at which it is viewed. Which is similar to an effect you would apply to say make objects appear to be constant in shape and scale in a world where perspective dictates they must be ever changing.
And there is no formula that really covers it, but I find Ansel Adams' to pretty close whist still being true to the maths of image geometry.