def METHOD_NAME(
    points0: List[np.ndarray], points1: List[np.ndarray]
) -> Tuple[float, np.ndarray, np.ndarray]:
    """Compute similarity transform between point sets.
    Returns (s, A, b) such that ``points1 = s * A * points0 + b``
    """
    v0, v1 = [], []
    for p0, p1 in zip(points0, points1):
        if p0 is not None and p1 is not None:
            v0.append(p0)
            v1.append(p1)
    v0 = np.array(v0).T
    v1 = np.array(v1).T
    M = tf.affine_matrix_from_points(v0, v1, shear=False)
    s = np.linalg.det(M[:3, :3]) ** (1.0 / 3.0)
    A = M[:3, :3] / s
    b = M[:3, 3]
    return s, A, b