new

build.gradle

@@ -8,29 +8,29 @@ version '1.0-SNAPSHOT'
 repositories {
     mavenCentral()
 }
-ext{
+ext {
     version = [
-            'javacv' : '1.5.3',
-            'opencv' : '4.3.0',
+            'javacv': '1.5.3',
+            'opencv': '4.3.0',
     ]
 }
 
 dependencies {
-    List axisExGroups  = [ 'org.bytedeco.javacpp-presets']
-    List axisExModules = [ 'ffmpeg' , 'artoolkitplus', 'ffmpeg-platform']
-
-    implementation('org.bytedeco:opencv:4.5.1-1.5.5:android-x86')
-    implementation('org.bytedeco:opencv:4.3.0-1.5.3:android-x86_64')
-
-    implementation(group :'org.bytedeco', name: 'javacv-platform', version: '1.5.5'){
-        axisExGroups.each  { exclude group: "$it" }
-        axisExModules.each {exclude module: "$it"}
+    List axisExGroups = ['org.bytedeco.javacpp-presets']
+    List axisExModules = ['ffmpeg', 'artoolkitplus', 'ffmpeg-platform', 'artoolkitplus-platform',
+                          'flandmark', 'flandmark-platform', 'flycapture', 'flycapture-platform',
+                            'leptonica', 'leptonica-platform', 'libdc1394', 'libdc1394-platform',
+                            'libfreenect2', 'libfreenect2-platform', 'libfreenect', 'libfreenect-platform',
+                          'librealsense2', 'librealsense2-platform', 'librealsense', 'librealsense-platform',
+                          'tesseract', 'tesseract-platform', 'videoinput', 'videoinput-platform','javacv', 'javacv-platform']
+
+
+    implementation(group: 'org.bytedeco', name: 'javacv-platform', version: '1.5.5') {
+        axisExGroups.each { exclude group: "$it" }
+        axisExModules.each { exclude module: "$it" }
     }
-    implementation('org.apache.commons:commons-lang3:3.12.0')
 
 
-//    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.1'
-//    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.1'
 }
 
 test {

src/main/java/Entity/FaceList.java

@@ -6,14 +6,14 @@ public class FaceList {
     private Face tail;
 
     /**
-     * Clears this list
+     * Clears this list.
      */
     public void clear() {
         head = tail = null;
     }
 
     /**
-     * Adds a vertex to the end of this list
+     * Adds a vertex to the end of this list.
      */
     public void add(Face vtx) {
         if (head == null) {
@@ -30,7 +30,7 @@ public class FaceList {
     }
 
     /**
-     * Returns true if this list is empty
+     * Returns true if this list is empty.
      */
     public boolean isEmpty() {
         return head == null;

src/main/java/Entity/HalfEdge.java

@@ -2,56 +2,56 @@ package Entity;
 
 public class HalfEdge {
 
-    /**
-     * The vertex associated with the heat of this half-edge
-     */
     protected Vertex vertex;
 
     /**
-     * Triangular face associated with this half-edge
+     * Triangular face associated with this half-edge.
      */
-    protected Face face;
+    public Face face;
 
     /**
-     * Next haft-edge in the triangle
+     * Next half-edge in the triangle.
      */
-    protected HalfEdge next;
+    public HalfEdge next;
 
     /**
-     * Previous half-edge in the reiangle
+     * Previous half-edge in the triangle.
      */
-    protected HalfEdge prev;
+    public HalfEdge prev;
 
     /**
-     * Half-edge associated with the opposite triangle adjacent to this edge
+     * Half-edge associated with the opposite triangle adjacent to this edge.
      */
-    protected HalfEdge opposite;
-
-    public HalfEdge() {
-    }
+    public HalfEdge opposite;
 
     /**
-     * Constructs a HalfEdge with head vertex and left-hand triangular face
+     * Constructs a HalfEdge with head vertex <code>v</code> and left-hand
+     * triangular face <code>f</code>.
      *
-     * @param vertex head vertex
-     * @param face   left-hand triangular face
+     * @param v head vertex
+     * @param f left-hand triangular face
      */
-    public HalfEdge(Vertex vertex, Face face) {
-        this.vertex = vertex;
-        this.face = face;
+    public HalfEdge(Vertex v, Face f) {
+        vertex = v;
+        face = f;
+    }
+
+    public HalfEdge() {
     }
 
     /**
-     * Gets the triangular face located to the left of this half-edge
+     * Sets the value of the next edge adjacent (counter-clockwise) to this one
+     * within the triangle.
      *
-     * @return left-hand triangular face
+     * @param edge next adjacent edge
      */
-    public Face getFace() {
-        return face;
+    public void setNext(HalfEdge edge) {
+        next = edge;
     }
 
     /**
-     * Gets the value of the next edge adjacent (counter-clockwise) to this one within the triangle
+     * Gets the value of the next edge adjacent (counter-clockwise) to this one
+     * within the triangle.
      *
      * @return next adjacent edge
      */
@@ -60,16 +60,18 @@ public class HalfEdge {
     }
 
     /**
-     * Sets the value of the next edge adjacent (counter-clockwise) to this one within the triangle
+     * Sets the value of the previous edge adjacent (clockwise) to this one
+     * within the triangle.
      *
-     * @param next next adjacent edge
+     * @param edge previous adjacent edge
      */
-    public void setNext(HalfEdge next) {
-        this.next = next;
+    public void setPrev(HalfEdge edge) {
+        prev = edge;
     }
 
     /**
-     * Gets the value of the previous edge adjacent (clockwise) to this one within the triangle
+     * Gets the value of the previous edge adjacent (clockwise) to this one
+     * within the triangle.
      *
      * @return previous adjacent edge
      */
@@ -78,16 +80,16 @@ public class HalfEdge {
     }
 
     /**
-     * Sets the value of the previous edge adjacent (clockwise) to this one within the triangle
+     * Returns the triangular face located to the left of this half-edge.
      *
-     * @param prev previous adjacent edge
+     * @return left-hand triangular face
      */
-    public void setPrev(HalfEdge prev) {
-        this.prev = prev;
+    public Face getFace() {
+        return face;
     }
 
     /**
-     * Returns the half-edge opposite to this half-edge
+     * Returns the half-edge opposite to this half-edge.
      *
      * @return opposite half-edge
      */
@@ -96,16 +98,17 @@ public class HalfEdge {
     }
 
     /**
-     * Sets the half-edge opposite to this half-edge
+     * Sets the half-edge opposite to this half-edge.
      *
-     * @param opposite opposite half-edge
+     * @param edge opposite half-edge
      */
-    public void setOpposite(HalfEdge opposite) {
-        this.opposite = opposite;
+    public void setOpposite(HalfEdge edge) {
+        opposite = edge;
+        edge.opposite = this;
     }
 
     /**
-     * Returns the head vertex associated with this half-edge
+     * Returns the head vertex associated with this half-edge.
      *
      * @return head vertex
      */
@@ -114,16 +117,16 @@ public class HalfEdge {
     }
 
     /**
-     * Returns the tail vertex associate with this half-edge
+     * Returns the tail vertex associated with this half-edge.
      *
-     * @return
+     * @return tail vertex
      */
     public Vertex tail() {
         return prev != null ? prev.vertex : null;
     }
 
     /**
-     * Returns the opposite triangular face associate with this half-edge
+     * Returns the opposite triangular face associated with this half-edge.
      *
      * @return opposite triangular face
      */
@@ -132,7 +135,8 @@ public class HalfEdge {
     }
 
     /**
-     * Produces a string identifying this half-edge by the point index values of its tail and head vertices
+     * Produces a string identifying this half-edge by the point index values of
+     * its tail and head vertices.
      *
      * @return identifying string
      */
@@ -145,7 +149,7 @@ public class HalfEdge {
     }
 
     /**
-     * Returns the length of this half-edge
+     * Returns the length of this half-edge.
      *
      * @return half-edge length
      */
@@ -158,9 +162,9 @@ public class HalfEdge {
     }
 
     /**
-     * Returns the length squared of this half-edge
+     * Returns the length squared of this half-edge.
      *
-     * @return half-edge squared length
+     * @return half-edge length squared
      */
     public double lengthSquared() {
         if (tail() != null) {
@@ -170,4 +174,5 @@ public class HalfEdge {
         }
     }
 
+
 }

src/main/java/Entity/InternalErrorException.java

+package Entity;
+
+
+public class InternalErrorException extends RuntimeException {
+
+    public InternalErrorException(String msg) {
+        super(msg);
+    }
+}
+

src/main/java/Entity/Point3D.java

-package Entity;
-
-public class Point3D extends Vector3D{
-
-    /**
-     * Create a Point3D amd initializes it to zero
-     */
-    public Point3D() {
-    }
-
-    /**
-     * Creates a Point3D by copy a vector
-     * @param v
-     */
-    public Point3D(Vector3D v) {
-        super(v);
-    }
-
-    /**
-     * Create a Point3D with the supplied element values
-     * @param x
-     * first element
-     * @param y
-     * second element
-     * @param z
-     * third element
-     */
-    public Point3D(double x, double y, double z) {
-        super(x, y, z);
-    }
-}

src/main/java/Entity/Point3d.java

+package Entity;
+
+public class Point3d extends Vector3d {
+
+    /**
+     * Creates a Point3d and initializes it to zero.
+     */
+    public Point3d() {
+    }
+
+    /**
+     * Creates a Point3d by copying a vector
+     *
+     * @param v vector to be copied
+     */
+    public Point3d(Vector3d v) {
+        set(v);
+    }
+
+    /**
+     * Creates a Point3d with the supplied element values.
+     *
+     * @param x first element
+     * @param y second element
+     * @param z third element
+     */
+    public Point3d(double x, double y, double z) {
+        set(x, y, z);
+    }
+
+    public Point3d clone() {
+        return new Point3d(x, y, z);
+    }
+}

src/main/java/Entity/Vector3D.java → src/main/java/Entity/Vector3d.java

 package Entity;
 
-public class Vector3D {
+public class Vector3d {
 
-    static private final double DOUBLE_PREC = 2.2204460492503131e-16;//Precision of a double
+    /**
+     * Precision of a double.
+     */
+    static private final double DOUBLE_PREC = 2.2204460492503131e-16;
+
+    /**
+     * First element
+     */
+    public double x;
 
-    public double x;//first element
-    public double y;//second element
-    public double z;//third element
+    /**
+     * Second element
+     */
+    public double y;
 
-    //Creates a 3-vector and initializes its elements to 0
-    public Vector3D() {
+    /**
+     * Third element
+     */
+    public double z;
+
+    /**
+     * Creates a 3-vector and initializes its elements to 0.
+     */
+    public Vector3d() {
     }
 
     /**
-     * Creates a 3-vector by copy existing one
+     * Creates a 3-vector by copying an existing one.
      *
      * @param v vector to be copied
      */
-    public Vector3D(Vector3D v) {
+    public Vector3d(Vector3d v) {
         set(v);
     }
 
     /**
-     * Creates a 3-vector with the supplied element values
+     * Creates a 3-vector with the supplied element values.
      *
      * @param x first element
      * @param y second element
      * @param z third element
      */
-    public Vector3D(double x, double y, double z) {
+    public Vector3d(double x, double y, double z) {
         set(x, y, z);
     }
 
     /**
-     * Gets a single element of this vector. Element 0, 1, and 2 correspond to x,y and z
+     * Gets a single element of this vector. Elements 0, 1, and 2 correspond to
+     * x, y, and z.
      *
      * @param i element index
-     * @return element value throws ArrayIndexOutOfBoundsException if i is not in range 0 to 2
+     * @return element value throws ArrayIndexOutOfBoundsException if i is not
+     * in the range 0 to 2.
      */
     public double get(int i) {
         switch (i) {
@@ -57,11 +75,12 @@ public class Vector3D {
 
     /**
      * Sets a single element of this vector. Elements 0, 1, and 2 correspond to
-     * x, y, and z
+     * x, y, and z.
      *
      * @param i     element index
      * @param value element value
-     * @return element value throws ArrayIndexOutOfBoundsException if i is not in the range 0 to 2
+     * @return element value throws ArrayIndexOutOfBoundsException if i is not
+     * in the range 0 to 2.
      */
     public void set(int i, double value) {
         switch (i) {
@@ -84,86 +103,64 @@ public class Vector3D {
     }
 
     /**
-     * Sets the values of this vector to those of v1
+     * Sets the values of this vector to those of v1.
      *
      * @param v1 vector whose values are copied
      */
-    public void set(Vector3D v1) {
-        this.x = v1.x;
-        this.y = v1.y;
-        this.z = v1.z;
+    public void set(Vector3d v1) {
+        x = v1.x;
+        y = v1.y;
+        z = v1.z;
     }
 
     /**
-     * Sets the values of the vector to the prescribed values
-     *
-     * @param x value for first element
-     * @param y value for second element
-     * @param z value for third element
-     */
-    public void set(double x, double y, double z) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-    }
-
-    /**
-     * Sets the elements of this vector to zero
-     */
-    public void setZero() {
-        x = 0;
-        y = 0;
-        z = 0;
-    }
-
-    /**
-     * Adds vector v1 to v2 and places the result in this vector
+     * Adds vector v1 to v2 and places the result in this vector.
      *
      * @param v1 left-hand vector
      * @param v2 right-hand vector
      */
-    public void add(Vector3D v1, Vector3D v2) {
+    public void add(Vector3d v1, Vector3d v2) {
         x = v1.x + v2.x;
         y = v1.y + v2.y;
         z = v1.z + v2.z;
     }
 
     /**
-     * Adds this vector to v and places the result in this vector
+     * Adds this vector to v1 and places the result in this vector.
      *
-     * @param v right-hand vector
+     * @param v1 right-hand vector
      */
-    public void add(Vector3D v) {
-        x += v.x;
-        y += v.y;
-        z += v.z;
+    public void add(Vector3d v1) {
+        x += v1.x;
+        y += v1.y;
+        z += v1.z;
     }
 
     /**
-     * Subs vector v1 from v2 and places the result in this vector
+     * Subtracts vector v1 from v2 and places the result in this vector.
      *
      * @param v1 left-hand vector
      * @param v2 right-hand vector
      */
-    public void sub(Vector3D v1, Vector3D v2) {
+    public void sub(Vector3d v1, Vector3d v2) {
         x = v1.x - v2.x;
         y = v1.y - v2.y;
         z = v1.z - v2.z;
     }
 
     /**
-     * Subs this vector from v and places the result in this vector
+     * Subtracts v1 from this vector and places the result in this vector.
      *
-     * @param v right-hand vector
+     * @param v1 right-hand vector
      */
-    public void sub(Vector3D v) {
-        x -= v.x;
-        y -= v.y;
-        z -= v.z;
+    public void sub(Vector3d v1) {
+        x -= v1.x;
+        y -= v1.y;
+        z -= v1.z;
     }
 
     /**
-     * Scales the elements of this vector by s
+     * Scales the elements of this vector by <code>s</code>.
      *
      * @param s scaling factor
      */
@@ -174,19 +171,21 @@ public class Vector3D {
     }
 
     /**
-     * Scales the elements of vector v by s and place the results in this vector
+     * Scales the elements of vector v1 by <code>s</code> and places the results
+     * in this vector.
      *
-     * @param s scaling vector
-     * @param v vector to be scaled
+     * @param s  scaling factor
+     * @param v1 vector to be scaled
      */
-    public void scale(double s, Vector3D v) {
-        x = s * v.x;
-        y = s * v.y;
-        z = s * v.z;
+    public void scale(double s, Vector3d v1) {
+        x = s * v1.x;
+        y = s * v1.y;
+        z = s * v1.z;
     }
 
     /**
-     * Returns the 2 norm of this vector. This is the square root of the sum of the squares of the elements
+     * Returns the 2 norm of this vector. This is the square root of the sum of
+     * the squares of the elements.
      *
      * @return vector 2 norm
      */
@@ -195,7 +194,8 @@ public class Vector3D {
     }
 
     /**
-     * Retruns the square of the 2 norm of this vector. this is the sum of the squares of the element
+     * Returns the square of the 2 norm of this vector. This is the sum of the
+     * squares of the elements.
      *
      * @return square of the 2 norm
      */
@@ -204,12 +204,11 @@ public class Vector3D {
     }
 
     /**
-     * Returns the Euclidean distance between this vector and vector v
+     * Returns the Euclidean distance between this vector and vector v.
      *
-     * @param v vector destination
      * @return distance between this vector and v
      */
-    public double distance(Vector3D v) {
+    public double distance(Vector3d v) {
         double dx = x - v.x;
         double dy = y - v.y;
         double dz = z - v.z;
@@ -218,12 +217,12 @@ public class Vector3D {
     }
 
     /**
-     * Returns the squared of Euclidean distance between this vector and vector v
+     * Returns the squared of the Euclidean distance between this vector and
+     * vector v.
      *
-     * @param v vector destination
      * @return squared distance between this vector and v
      */
-    public double distanceSquared(Vector3D v) {
+    public double distanceSquared(Vector3d v) {
         double dx = x - v.x;
         double dy = y - v.y;
         double dz = z - v.z;
@@ -232,17 +231,17 @@ public class Vector3D {
     }
 
     /**
-     * Returns the dot product of this vector and v1
+     * Returns the dot product of this vector and v1.
      *
-     * @param v right-hand vector
+     * @param v1 right-hand vector
      * @return dot product
      */
-    public double dot(Vector3D v) {
-        return x * v.x + y * v.y + z * v.z;
+    public double dot(Vector3d v1) {
+        return x * v1.x + y * v1.y + z * v1.z;
     }
 
     /**
-     * Normalizes this vector in place
+     * Normalizes this vector in place.
      */
     public void normalize() {
         double lenSqr = x * x + y * y + z * z;
@@ -256,27 +255,57 @@ public class Vector3D {
     }
 
     /**
-     * Computes the cross product of v1 and v2 and places the result in this vector
+     * Sets the elements of this vector to zero.
+     */
+    public void setZero() {
+        x = 0;
+        y = 0;
+        z = 0;
+    }
+
+    /**
+     * Sets the elements of this vector to the prescribed values.
+     *
+     * @param x value for first element
+     * @param y value for second element
+     * @param z value for third element
+     */
+    public void set(double x, double y, double z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+
+    /**
+     * Computes the cross product of v1 and v2 and places the result in this
+     * vector.
      *
      * @param v1 left-hand vector
      * @param v2 right-hand vector
      */
-    public void cross(Vector3D v1, Vector3D v2) {
+    public void cross(Vector3d v1, Vector3d v2) {
         double tmpx = v1.y * v2.z - v1.z * v2.y;
         double tmpy = v1.z * v2.x - v1.x * v2.z;
-        double tmpz = v1.x * v2.y - v1.y - v2.x;
+        double tmpz = v1.x * v2.y - v1.y * v2.x;
 
         x = tmpx;
         y = tmpy;
         z = tmpz;
     }
 
-    @Override
+
+    /**
+     * Returns a string representation of this vector, consisting of the x, y,
+     * and z coordinates.
+     *
+     * @return string representation
+     */
     public String toString() {
-        return "Vector3D{" +
-                "x=" + x +
-                ", y=" + y +
-                ", z=" + z +
-                '}';
+        return x + " " + y + " " + z;
+    }
+
+
+    public double scalarProjection(Vector3d normal) {
+        return this.dot(normal)/normal.norm();
     }
 }

src/main/java/Entity/Vertex.java

@@ -3,41 +3,42 @@ package Entity;
 public class Vertex {
 
     /**
-     * Spatial point associated with this vertex
+     * Spatial point associated with this vertex.
      */
-    public Point3D pnt;
+    public Point3d pnt;
 
     /**
-     * Back index into an array
+     * Back index into an array.
      */
     public int index;
 
     /**
-     * List forward link
+     * List forward link.
      */
     public Vertex prev;
 
     /**
-     * List backward link
+     * List backward link.
      */
     public Vertex next;
 
     /**
-     * Current face that this vertex is outside of
+     * Current face that this vertex is outside of.
      */
     public Face face;
 
     /**
-     * Constructs a vertex and sets its coordinates to 0
+     * Constructs a vertex and sets its coordinates to 0.
      */
     public Vertex() {
+        pnt = new Point3d();
     }
 
     /**
-     * Constructs a vertex with the specified coordinates and index
+     * Constructs a vertex with the specified coordinates and index.
      */
     public Vertex(double x, double y, double z, int idx) {
-        pnt = new Point3D(x, y, z);
+        pnt = new Point3d(x, y, z);
         index = idx;
     }
 }

src/main/java/Fleet_single_cam.java

-import Entity.Point3D;
+
+import Entity.Point3d;
 import org.opencv.core.Mat;
 import org.opencv.core.Size;
 import org.opencv.imgcodecs.Imgcodecs;
@@ -17,7 +18,7 @@ public class Fleet_single_cam {
     private int num_y;
     private int num_z;
     private boolean show;
-    private Point3D[] points;
+    private Point3d[] points;
     //    private
     HashMap<String, intArray> side;
 
@@ -143,7 +144,7 @@ public class Fleet_single_cam {
      */
     public void initPoint3d() {
         //init point list
-        List<Point3D> point3dList = new ArrayList<>();
+        List<Point3d> point3dList = new ArrayList<>();
 
         //temp pixel
         int xx = 0;
@@ -164,7 +165,7 @@ public class Fleet_single_cam {
                 xx += 1;
                 //add if point == 0
                 if (front[i][j] == 0) {
-                    point3dList.add(new Point3D(xx, yy, zz));
+                    point3dList.add(new Point3d(xx, yy, zz));
                 }
             }
         }
@@ -179,7 +180,7 @@ public class Fleet_single_cam {
                 yy += 1;
                 //add if point == 0
                 if (side[i][j] == 0) {
-                    point3dList.add(new Point3D(xx, yy, zz));
+                    point3dList.add(new Point3d(xx, yy, zz));
                 }
             }
         }
@@ -194,18 +195,26 @@ public class Fleet_single_cam {
                 xx += 1;
                 //add if point == 0
                 if (bottom[i][j] == 0) {
-                    point3dList.add(new Point3D(xx, yy, zz));
+                    point3dList.add(new Point3d(xx, yy, zz));
                 }
             }
         }
 
-        points = point3dList.toArray(new Point3D[point3dList.size()]);
+        points = point3dList.toArray(new Point3d[point3dList.size()]);
     }
 
-    public Point3D[] getPoints() {
+    public Point3d[] getPoints() {
         return points;
     }
 
+
+    /**
+     * Adding 0 into matrix inorder to make the matrix fit the require height and width
+     * @param matrix
+     * @param require_height
+     * @param require_width
+     * @return
+     */
     private int[][] padding(int[][] matrix, int require_height, int require_width) {
         //get width, height
         int height = 0;

src/main/java/main.java

+
+import Entity.Point3d;
 import org.bytedeco.javacpp.Loader;
 import org.bytedeco.opencv.opencv_java;
+import utils.QuickHull3D;
 
 import java.util.Arrays;
 
@@ -8,8 +11,11 @@ public class main {
 
         Loader.load(opencv_java.class);
 
-        //Khoi tạo 1 cam, nhận ảnh tĩnh vào
-        Fleet_single_cam cam1 = new Fleet_single_cam("a", "1da36bd1c4aa0bf452bb24.jpg", 0.5, 5, 5, 4, false);
+        int x = 5;
+        int y = 5;
+        int z = 4;
+        //Khoi tạo cam 1
+        Fleet_single_cam cam1 = new Fleet_single_cam("1", "1da36bd1c4aa0bf452bb24.jpg", 0.5, x, y, z, false);
 
         //create front side, add 4 đỉnh của side front vào
         cam1.add_side("front", new float[][]{
@@ -35,10 +41,12 @@ public class main {
                 new float[]{288, 545}
         });
 
+        //tính matrix thể tích vật
         cam1.refine_matrix();
+        //lấy những point chứa vật
         cam1.initPoint3d();
 
-        //Khoi tạo 1 cam, nhận ảnh tĩnh vào
+        //Khoi tạo cam2
         Fleet_single_cam cam2 = new Fleet_single_cam("a", "5b8ab6b219c9d6978fd827.jpg", 0.5, 5, 5, 4, false);
 
         //create front side, add 4 đỉnh của side front vào
@@ -65,32 +73,26 @@ public class main {
                 new float[]{275, 497}
         });
 
+        //tính matrix thể tích vật
         cam2.refine_matrix();
+        //lấy những point của vật thể
         cam2.initPoint3d();
 
 
+        // tổng hợp lại những point chứa vật trong 2 cam
+        Point3d[] poly = Arrays.copyOf(cam1.getPoints(), cam1.getPoints().length+cam2.getPoints().length);
+        System.arraycopy(cam2.getPoints(), 0, poly, cam1.getPoints().length, cam2.getPoints().length);
+
+        //dùng quick hull algorithm để tính thể tích
+        QuickHull3D hull = new QuickHull3D();
+        hull.build(poly);
+
+        //lấy thể tích của vật
+        double volume = hull.calVolume();
 
 
-//        Point3d[] poly = Arrays.copyOf(cam1.getPoints(), cam1.getPoints().length+cam2.getPoints().length);
-//        System.arraycopy(cam2.getPoints(), 0, poly, cam1.getPoints().length, cam2.getPoints().length);
-//
-//        QuickHull3D hull = new QuickHull3D();
-//        hull.build(poly);
-//        System.out.println("Vertices:");
-//        Point3d[] vertices = hull.getVertices();
-//        for (int i = 0; i < vertices.length; i++) {
-//            Point3d pnt = vertices[i];
-//            System.out.println(pnt.x + " " + pnt.y + " " + pnt.z);
-//        }
-//
-//        System.out.println("Faces:");
-//        int[][] faceIndices = hull.getFaces();
-//        for (int i = 0; i < vertices.length; i++) {
-//            for (int k = 0; k < faceIndices[i].length; k++) {
-//                System.out.print(faceIndices[i][k] + " ");
-//            }
-//            System.out.println("");
-//        }
+        //Kết quả trả ra: tỉ lệ thể tích
+        double result = volume/((x+1)*(y+1)*(z+1));
 
 
     }

src/main/java/utils/QuickHull3d.java

-package utils;
-
-import Entity.*;
-
-import java.util.Vector;
-
-public class QuickHull3d {
-    /**
-     * Specifies that the distance tolerance should be computed automatically from the input point data
-     */
-    public static final double AUTOMATIC_TOLERANCE = -1;
-
-    protected int findIndex = -1;
-
-    //estimated size of the point set
-    protected double charLength;
-
-    protected Vertex[] pointBuffer = new Vertex[0];
-
-    protected int[] vertexPointIndices = new int[0];
-
-    private Face[] discardedFaces = new Face[3];
-
-    private Vertex[] maxVtxs = new Vertex[3];
-
-    private Vertex[] minVtxs = new Vertex[3];
-
-    protected Vector face = new Vector(16);
-
-    protected Vector horizon = new Vector(16);
-
-    private FaceList newFaces = new FaceList();
-
-    private VertexList unclaimed = new VertexList();
-
-    private VertexList claimed = new VertexList();
-
-    protected int numVertices;
-
-    protected int numFaces;
-
-    protected int numPoints;
-
-    protected double explicitTolerance = AUTOMATIC_TOLERANCE;
-
-    protected double tolerance;
-
-    private static final double DOUBLE_PREC = 2.2204460492503131e-16;
-
-    /**
-     * Create a convex hull object and initializes it to the convex hull of a set of points
-     * @param points
-     * input points
-     * @throws IllegalArgumentException
-     * the number of input points is less than four, or the point appear to be coincident, colinear, or coplanar
-     */
-    public QuickHull3d(Point3D[] points) throws IllegalArgumentException{
-        build(points, points.length);
-    }
-
-    /**
-     * Constructs the convex hull of a set of points
-     * @param points
-     * input points
-     * @param nump
-     * number of input poins
-     * @throws IllegalArgumentException
-     * the number of input points is less than four or greater than the length if points, or the points appear to be coincident, colinear, or coplanar
-     */
-    public void build(Point3D[] points, int nump) throws IllegalArgumentException{
-        if (nump < 4){
-            throw new IllegalArgumentException("Less than four input points specified");
-        }
-        if (points.length < nump){
-            throw new IllegalArgumentException("Point array too small for specified number of points");
-        }
-        initBuffers(nump);
-        setPoints(points, nump);
-        buildHull();
-    }
-
-    protected void initBuffers(int nump){
-        if (pointBuffer.length < nump){
-            Vertex[] newBuffer = new Vertex[nump];
-            vertexPointIndices = new int[nump];
-            for (int i = 0; i < pointBuffer.length; i++){
-                newBuffer[i] = pointBuffer[i];
-            }
-            for (int i = pointBuffer.length; i < nump; i++){
-                newBuffer[i] = new Vertex();
-            }
-            pointBuffer = newBuffer;
-        }
-        face.clear();
-        claimed.clear();
-        numFaces = 0;
-        numPoints = nump;
-    }
-
-    protected void setPoints(Point3D[] pnts, int nump) {
-        for (int i = 0; i < nump; i++){
-            Vertex vtx = pointBuffer[i];
-            vtx.pnt.set(pnts[i]);
-            vtx.index = i;
-        }
-    }
-
-    protected void buildHull(){
-        int cnt = 0;
-        Vertex eyeVtx;
-
-        computeMaxAndMin();
-        createInitialSimplex();
-        while ((eyeVtx = nextPointToAdd()) != null){
-            addPointToHull(eyeVtx);
-            cnt++;
-        }
-        reindexFacesAndVertices();
-    }
-
-    protected void computeMaxAndMin(){
-        //initialize max, min
-        Vector3D max = new Vector3D();
-        Vector3D min = new Vector3D();
-
-        for (int i=0;i<3;i++){
-            maxVtxs[i] = minVtxs[i] = pointBuffer[0];
-        }
-        max.set(pointBuffer[0].pnt);
-        min.set(pointBuffer[0].pnt);
-
-        //check all point to find max, min
-        for (int i=1;i<numPoints;i++){
-            Point3D pnt = pointBuffer[i].pnt;
-            //find maxVtxs[0] and minVtxs[0] , vectors with max x and min x
-            if (pnt.x >max.x){
-                max.x = pnt.x;
-                maxVtxs[0] = pointBuffer[i];
-            }else if (pnt.x < min.x){
-                min.x = pnt.x;
-                minVtxs[0] = pointBuffer[i];
-            }
-
-            //find maxVtxs[1] and minVtxs[1] , vectors with max y and min y
-            if (pnt.y >max.y){
-                max.y = pnt.y;
-                maxVtxs[1] = pointBuffer[i];
-            }else if (pnt.y < min.y){
-                min.y = pnt.y;
-                minVtxs[1] = pointBuffer[i];
-            }
-
-            //find maxVtxs[2] and minVtxs[2] , vectors with max z and min z
-            if (pnt.z >max.z){
-                max.z = pnt.z;
-                maxVtxs[2] = pointBuffer[i];
-            }else if (pnt.z < min.z){
-                min.z = pnt.z;
-                minVtxs[2] = pointBuffer[i];
-            }
-
-            charLength = Math.max(max.x - min.x, max.y - min.y);
-            charLength = Math.max(max.z - min.z, charLength);
-            if (explicitTolerance == AUTOMATIC_TOLERANCE){
-                tolerance = 3* DOUBLE_PREC * (Math.max(Math.abs(max.x), Math.abs(min.x)) + Math.max(Math.abs(max.y), Math.abs(min.y)) + Math.max(Math.abs(max.z), Math.abs(min.z)));
-            }else{
-                tolerance = explicitTolerance;
-            }
-        }
-    }
-
-    protected void createInitialSimplex() throws IllegalArgumentException{
-        double max = 0;
-        int imax = 0;
-
-        for (int i = 0; i< 3; i++){
-            double diff = maxVtxs[i].pnt.get(i)-minVtxs[i].pnt.get(i);
-            if (diff > max){
-                max = diff;
-                imax = i;
-            }
-        }
-
-        if (max <= tolerance){
-            throw new IllegalArgumentException("Input points appear to be conicident");
-        }
-
-        Vertex[] vtx = new Vertex[4];
-        //set first two vertices to be those with the greatest one dimensional separation
-
-        vtx[0] = maxVtxs[imax];
-        vtx[1] = minVtxs[imax];
-
-        // set third vertex to be the vertex farthest from the line between vtx0 and vtx1
-        Vector3D u01 = new Vector3D();
-        Vector3D diff02 = new Vector3D();
-        Vector3D nrml = new Vector3D();
-
-    }
-
-}