Intersection of two convex set in n-dimensional space

Question

Let $X={x_1,\ldots,x_p}$ and $Y={y_1,\ldot,y_q}$ be two set of points in $\mathbb{R}^n$. Is there a method to find $\mathrm{conv}(X)\cap \mathrm{conv}(Y)$ as $\mathrm{conv}(Z)$, where $Z$ is some subset of $\mathbb{R}^n$?