In the file 02-single-view-metrology.pdf, page 8, 1st paragraph, "Finally, let’s suppose that we know that these planes are perpendicular in 3D. In this case, we know that from Equation 12, that
v1ωv2 = 0."
I guess it is an error. If two lines are in two perpendicular planes respectively, they are not definitely perpendicular to each other. therefore, the v1ωv2 = 0 is not definitely correct.

In the formula (1) of Notes 3
M = K [I | 0] M' = K' [ R | T ]
Since R,T is derived from Cam 1/Left to Cam 2/Right, so we should not
use such R,T to multiply points in the Cam2's coordniate.
To avoid confusion，we have to change it as
M = K [I | 0] M' = K' [ R' | -R'T ]

In equation 3 (Camera Models), the dimension of the terms are some real world image distance units (say cm for example). However, in equation 4, new terms i.e. k and l; whose units are pixel/cm are introduced, which makes the addition between two terms in equation 4 mathematically incorrect, though intuitively okay. Should there be some more rigorous approach to this?