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The scale factor is basically the units of the number. So if you moved ten units, is that feet, cm, km, inches? Since you can't know, the translation vector returned is (I believe) a unit vector giving the direction.
I am fairly sure there's a way of obtaining relative scale, where you use three frames, find the vector from 1->2, 2->3 and 1->3. Then you can solve the equation knowing that a1->2 + b2->3 = 1->3 in three dimensions (3 equations, 2 unkowns) and then you know the relative scale. In theory one is enough, but practically you have to repeat over many sets and lengths of frames and you can get an okayish estimate of relative scale for all the frames. This is prety computationally expensive though, and I think it has to be done in post processing.
