True and real VERTIGO.
Hard to describe what it is to someone who does not have it.
My eye doctors did a lot of testing. A lot. They even used calipers and levels. Using those they decided I have a minimal unnoticed sort of cross eyes that my eye muscles automatically compensate for. I can actually judge distance much better than normal because I possibly feel the eye muscles being used to focus together on an object. So, oh this was a couple years ago, the eye doctors had me do a full head scan in the MRI. (Actually I think they wanted an MRI of a half Neanderthal brain...). Yea, it showed a skeletal anomaly, very slight, of how my eyes are directed. They described it in 15 syllable words so I just said, uh huh, will I live? Eyes aim outward a few percent more than normal from the shape of the sockets. See what happens when your mother carries a lot of Neanderthal genes? Lol!
Anyhow, vertigo. Let me describe a normal situation that is horizontal. The concept is the same except it is vertical with heights. Next time you are a passenger in a car on a wide open highway, especially if there are distant hills, look out the window at the hills in the distance. Notice how nearby fence posts or trees whiz right on by, hardly even noticed. Next, while watching the distant hills, notice how things such as a building a couple hundred feet away ooze on by, barely noted while watching those distant hills.
Next, change your focus to a mid distant thing such as a farmhouse. Those nearby fence posts suddenly zoom past more noticeably.
Now try shifting your focus from each distance to another to see as much as you can, close, mid, and far. Notice it does not feel very good after awhile?
Moving around on something like a fire escape does a similar thing to me. It is not that twisty spirally effect that was used on some Hitchcock movie. The near to my eyes feet, and the farther away ground have different apparent motions.
In that situation I have to focus only close. It is not a fear of heights so much as, ooph, things are geometrically enhanced. Oh, I have a solid respect for heights like anyone else, just, add that tendency to have that visual vertigo. I kind of felt it watching that video, even though with the wide angle view most distances were in focus, and it diminished it some, but the camera view slowly moved, or seemed to.