recover pose scale

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Is there a way to get a relative scale for the translation vector given from cv2.recoverpose().

e.g over 11 frames i get 10 different translation vectors, s(i) * t(i), 0 <= i < 9.

Is there a way to recover the relative scale between these vectors without any other information?

For example, if between frame 1 & 2 i move 0.1 in the x direction and frame 2 & 3 i move 0.15, the translation vector for both is given as [1, 0, 0], is there a way to recover the scale between them?