Hi @felixchenfy , this is such good work :-)

I have a doubt on

Change scale:
Scale the translation t to be the same length as the ground truth so that I can make a comparison with ground truth. Then, scale the map points correspondingly

What if we don't have the ground-truth to scale the translation vector.
I know that in such cases we can estimate the relative scale by using three-views, but I don't find a good resource on it.
Can you point me out to any code that implements the relative-scale estimation ?

Thanks