I have created a dataset with a very accurate ground truth in 6DoF (both position and attitude) and would like to use this to compare the accuracy of the path in 6DoF for different monocular SLAM algorithms.

The ground truth results in a path in 6DoF relative to the ground truth's coordinate frame. The SLAM algorithms results in a path in 6DoF relative to the SLAM's coordinate frame

Due to the nature of monocular SLAM algorithms, I do not have a scale of the path.

How can I solve this with my dataset? Is there any available scripts?