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In this text, we explore the tools that Projective Differential Geometry can provide for the asymptotic analysis of classical fields on projectively compact manifolds. We emphasise on the case of order 2-compactifications and develop, in this case, a projective exterior differential tractor calculus that is analogous to that existing for conformally compact manifolds.

In this note a definition of umbilic point at infinity is proposed, at least for surfaces that are homogeneous polynomial graphs over a plane in Euclidean 3-space. This is a stronger definition than that of Toponogov in his study of complete convex surfaces, and allows one to distinguish between different umbilic points at infinity. It is proven that all such umbilic points at infinity are isolated, that they occur in pairs and are the zeroes of the projective extension of the third fundamental form, as developed by the authors in a previous paper. A geometric interpretation for our definition is that an umbilic point at infinity occurs when the tangent to the level set at infinity is also an asymptotic direction at infinity. We prove that a homogeneous polynomial graph must have an umbilic point, albeit at infinity., Comment: 11 pages

Line congruences are $2$-dimensional families of lines in $3$-space. The singularities that appear in generic line congruences are folds, cusps and swallowtails. In this paper we give a geometric description of these singularities. The main tool used is the existence of an equiaffine pair defining a generic line congruence., Comment: 23 pages, 5 figures

It is well-known that Lagrange's four-square theorem, stating that every natural number may be written as the sum of four squares, may be proved using methods from the classical theory of modular forms and theta functions. We revisit this proof. In doing so, we concentrate on geometry and thereby avoid some of the tricky analysis that is often encountered. Guided by projective differential geometry we find a new route to Lagrange's theorem., Comment: 24 pages

We prove that for any non-symmetric irreducible divisible convex set, the proximal limit set is the full projective boundary., Comment: 10 pages, 2 figures

In this paper we consider convex co-compact subgroups of the projective linear group. We prove that such a group is relatively hyperbolic with respect to a collection of virtually Abelian subgroups of rank two if and only if each open face in the ideal boundary has dimension at most one. We also introduce the "coarse Hilbert dimension" of a subset of a convex set and use it to characterize when a naive convex co-compact subgroup is word hyperbolic or relatively hyperbolic with respect to a collection of virtually Abelian subgroups of rank two., Comment: v2: Minor revisions based on referees' reports. To appear in Groups, Geometry, and Dynamics. 32 pages. Comments welcome. arXiv admin note: text overlap with arXiv:1910.08885

Given two c-projectively equivalent metrics on a K\"ahler manifold we show that the canoncially constructed, Poisson-commuting integrals of motion of the geodesic flow, linear and quadratic in momenta, also commute as quantum operators. The methods employed here also provide a proof of a similar statement in the case of projective equivalence. We also investigate the addition of potentials, i.e. the generalization to natural Hamiltonian systems. We show that the commuting operators lead to separation of variables for Schr\"odinger's equation.

In the present paper we study $\SXR$ and $\HXR$ geometries, which are homogeneous Thurston 3-geometries. We define and determine the generalized Apollonius surfaces and with them define the "surface of a geodesic triangle". Using the above Apollonius surfaces we develop a procedure to determine the centre and the radius of the circumscribed geodesic sphere of an arbitrary $\SXR$ and $\HXR$ tetrahedron. Moreover, we generalize the famous Menelaus' and Ceva's theorems for geodesic triangles in both spaces. In our work we will use the projective model of $\SXR$ and $\HXR$ geometries described by E. Moln\'ar in \cite{M97}., Comment: 23 pages, 10 figures

Let $N$ be a compact manifold with a foliation $\mathscr{F}_N$ whose leaves are compact strictly convex projective manifolds. Let $M$ be a compact manifold with a foliation $\mathscr{F}_M$ whose leaves are compact hyperbolic manifolds of dimension bigger than or equal to $3$. Suppose to have a foliation-preserving homeomorphism $f:(N,\mathscr{F}_N) \rightarrow (M,\mathscr{F}_M)$ which is $C^1$-regular when restricted to leaves. In the previous situation there exists a well-defined notion of foliated volume entropies $h(N,\mathscr{F}_N)$ and $h(M,\mathscr{F}_M)$ and it holds $h(M,\mathscr{F}_M) \leq h(N,\mathscr{F}_N)$. Additionally, if equality holds, then the leaves must be homothetic., Comment: 11 pages, small changes and some typos corrected, To appear on Pure and Applied Mathematics Quarterly

We connect two a priori unrelated topics, theory of geodesically equivalent metrics in differential geometry, and theory of compatible infinite dimensional Poisson brackets of hydrodynamic type in mathematical physics. Namely, we prove that a pair of geodesically equivalent metrics such that one is flat produces a pair of such brackets. We construct Casimirs for these brackets and the corresponding commuting flows. There are two ways to produce a large family of compatible Poisson structures from a pair of geodesically equivalent metrics one of which is flat. One of these families is $(n+1)(n+2)/2$ dimensional; we describe it completely and show that it is maximal. Another has dimension $\le n+2$ and is, in a certain sense, polynomial. We show that a nontrivial polynomial family of compatible Poisson structures of dimension $n+2$ is unique and comes from a pair of geodesically equivalent metrics. In addition, we generalise a result of Sinjukov (1961) from constant curvature metrics to arbitrary Einstein metrics., Comment: comments are welcome

A representation of a finitely generated group into the projective general linear group is called convex co-compact if it has finite kernel and its image acts convex co-compactly on a properly convex domain in real projective space. We prove that the fundamental group of a closed irreducible orientable 3-manifold can admit such a representation only when the manifold is geometric (with Euclidean, Hyperbolic, or Euclidean $\times$ Hyperbolic geometry) or when every component in the geometric decomposition is hyperbolic. In each case, we describe the structure of such examples., Comment: v2: substantial changes from v1. Final version, to appear in the Journal of Topology. 48 pages. Comments welcome

We introduce a natural subset of the unit tangent bundle of a convex projective manifold, the biproximal unit tangent bundle; it is closed and invariant under the geodesic flow, and we prove that the geodesic flow is topologically mixing on it whenever the manifold is irreducible. We also show that, for higher-rank, irreducible, compact convex projective manifolds, the geodesic flow is topologically mixing on each connected component of the non-wandering set., Comment: 23 pages, 5 figures. Version 2 includes new references, changes in the organisation of the paper, and the main result has been slightly enhanced

Demoulin surfaces in real projective $3$-space are investigated. Our result enable us to establish a generalized Weierstrass type representation for definite Demoulin surfaces by virtue of primitive maps into a certain semi-Riemannian $6$-symmetric space., Comment: 18 pages, v2 several typos fixed

We study an isomorphism between the group of rigid body displacements and the group of dual quaternions modulo the dual number multiplicative group from the viewpoint of differential geometry in a projective space over the dual numbers. Some seemingly weird phenomena in this space have lucid kinematic interpretations. An example is the existence of non-straight curves with a continuum of osculating tangents which correspond to motions in a cylinder group with osculating vertical Darboux motions. We also suggest geometrically meaningful ways to select osculating conics of a curve in this projective space and illustrate their corresponding motions. Furthermore, we investigate factorizability of these special motions and use the obtained results for the construction of overconstrained linkages., Comment: 14 pages, 5 figures

We prove entropy rigidity for finite volume strictly convex projective manifolds in dimensions $\geq 3$, generalizing the work of arXiv:1708.03983 to the finite volume setting. The rigidity theorem uses the techniques of Besson, Courtois, and Gallot's entropy rigidity theorem. It implies uniform lower bounds on the volume of any finite volume strictly convex projective manifold in dimensions $\geq 3$., Comment: 17 pages, 2 figures

We define local indices for projective umbilics and godrons (also called cusps of Gauss) on generic smooth surfaces in projective 3-space. By means of these indices, we provide formulas that relate the algebraic numbers of those characteristic points on a surface (and on domains of the surface) with the Euler characteristic of that surface (resp. of those domains). These relations determine the possible coexistences of projective umbilics and godrons on the surface. Our study is based on a "fundamental cubic form" for which we provide a closed simple expression., Comment: 20 pages, 16 figures. Reported in several conferences, cf.: "International workshop in Singularity Theory, its Applications ad futur prospects. Liverpool, 18-22 June 2012" "Workshop on Singularities in geometry, topology, foliations and dynamics. December 8th to 19th 2014, Merida, M\'exico." A talk: https://www.youtube.com/watch?v=HIG-Eu8dqKI

We study invariant systems of PDEs defining Killing vector-valued forms, and then we specialize to Killing spinor-valued forms. We give a detailed treatment of their prolongation and integrability conditions by relating the point-wise values of solutions to the curvature of the underlying manifold. As an example, we completely solve the equations on model spaces of constant curvature producing brand new solutions which do not come from the tensor product of Killing spinors and Killing-Yano forms.

The lower-order cr-invariant variational problem for Legendrian curves in the 3-sphere is studied and its Euler-Lagrange equations are deduced. Closed critical curves are investigated. Closed critical curves with non-constant cr-curvature are characterized. We prove that their cr-equivalence classes are in one-to-one correspondence with the rational points of a connected planar domain. A procedure to explicitly build all such curves is described. In addition, a geometrical interpretation of the rational parameters in terms of three phenomenological invariants is given., Comment: 37 pages, 10 figures, to appear in "Annali di Matematica Pura ed Applicata"

Given a parabolic geometry, it is sometimes possible to find special metrics characterised by some invariant conditions. In conformal geometry, for example, one asks for an Einstein metric in the conformal class. Einstein metrics have the special property that their geodesics are distinguished, as unparameterised curves, in the sense of parabolic geometry. This property characterises the Einstein metrics. In this article we initiate a study of corresponding phenomena for other parabolic geometries, in particular for the hypersurface CR and contact Legendrean cases., Comment: We have made several modifications, especially in linking our results to the literature on CR geometry. 30 pages

H. Weyl in 1921 demonstrated that for a connected manifold of dimension greater than $1$, if two Riemannian metrics are conformal and have the same geodesics up to a reparametrization, then one metric is a constant scaling of the other one. In the present paper, we investigate the analogous property for sub-Riemannian metrics. In particular, we prove that the analogous statement, called the Weyl projective rigidity, holds either in real analytic category for all sub-Riemannian metrics on distributions with a specific property of their complex abnormal extremals, called minimal order, or in smooth category for all distributions such that all complex abnormal extremals of their nilpotent approximations are of minimal order. This also shows, in real analytic category, the genericity of distributions for which all sub-Riemannian metrics are Weyl projectively rigid and genericity of Weyl projectively rigid sub-Riemannian metrics on a given bracket generating distributions. Finally, this allows us to get analogous genericity results for projective rigidity of sub-Riemannian metrics, i.e.when the only sub-Riemannian metric having the same sub-Riemannian geodesics, up to a reparametrization, with a given one, is a constant scaling of this given one. This is the improvement of our results on the genericity of weaker rigidity properties proved in recent paper arXiv:1801.04257[math.DG]., Comment: 18 pages

The problem of description of superintegrable systems (i.e., systems with closed trajectories in a certain domain) in the class of rotationally symmetric natural mechanical systems goes back to Bertrand and Darboux. We describe all superintegrable (in a domain of slow motions) systems in the class of rotationally symmetric magnetic geodesic flows. We show that all sufficiently slow motions in a central magnetic field on a two-dimensional manifold of revolution are periodic if and only if the metric has a constant scalar curvature and the magnetic field is homogeneous, i.e. proportional to the area form., Comment: 11 pages; Engl. transl. of the published version; Engl. transl. will be published in J. Math. Sci

We develop a notion of rank one properly convex domains (or Hilbert geometries) in the real projective space. This is in the spirit of rank one non-positively curved Riemannian manifolds and CAT(0) spaces. We define rank one isometries for Hilbert geometries and characterize them as being equivalent to contracting elements (in the sense of geometric group theory). We prove that if a discrete subgroup of automorphisms of a Hilbert geometry contains a rank one isometry, then the subgroup is either virtually cyclic or acylindrically hyperbolic. This leads to several applications like infinite-dimensionality of the space of quasi-morphisms, counting results for conjugacy classes and genericity results for rank one isometries., Comment: Major re-writing in Section 8 which also improves the results in that section. Results in all other sections remain unaffected. Other minor revisions based on referees' comments, notably in Sections 1, 4, 5, 12, and Appendix B. Final version to appear in Geometry & Topology. 72 pages. 1 figure. Comments welcome

We define a geometric invariant and an index (+1 or -1) for projective umbilics of smooth surfaces. We prove that the sum of the indices of the projective umbilics inside a connected component H of the hyperbolic domain remains constant in any 1-parameter family of surfaces if the topological type of H does not change. We prove the same statement for any connected component E of the elliptic domain. We give formulas for the invariant and for the index which do not depend on any normal form., Comment: 13 pages, 7 figures

In order to obtain a closed orientable convex projective four-manifold with small positive Euler characteristic, we build an explicit example of convex projective Dehn filling of a cusped hyperbolic four-manifold through a continuous path of projective cone-manifolds., Comment: 29 pages, 8 figures. To appear in Publicacions Matem\`atiques

In this paper we consider discrete groups in ${\rm PGL}_d(\mathbb{R})$ acting convex co-compactly on a properly convex domain in real projective space. For such groups, we establish necessary and sufficient conditions for the group to be relatively hyperbolic in terms of the geometry of the convex domain. This answers a question of Danciger-Gu\'eritaud-Kassel and is analogous to a result of Hruska-Kleiner for ${\rm CAT}(0)$ spaces., Comment: Minor revisions, final version to appear in Geometry & Topology. 96 pages, 2 figures. Comments welcome

In the spirit of Kobayashi's applications of methods of invariant metrics to questions of projective geometry, we introduce a projective analogue of the complex squeezing function. Using Frankel's work, we prove that for convex domains it stays uniformly bounded from below. In the case of strongly convex domains, we show that it tends to 1 at the boundary. This is applied to get a new proof of a projective analogue of the Wong-Rosay theorem.

We provide a new and simple system of equations for the normal sub-Riemannian geodesics. These use a partial connection that we show is canonically available, given a choice of complement to the distribution. We also describe conditions which, if satisfied, mean that even this choice of complement is determined canonically, and that this determines a distinguished connection on the tangent bundle. Our approach applies to sub-Riemannian geometry the point of view of non-holonomic mechanics. The geodesic equations obtained split into mutually driving horizontal and complementary parts, and the method allows for particular choices of nice coframes. We illustrate this feature on examples of contact models with non-constant symbols., Comment: the Maple worksheet, promised on page 15, is available at www.math.muni.cz/~slovak/5dim_gen_contact.mw

Given a parabolic geometry on a smooth manifold $M$, we study a natural affine bundle $A \to M$, whose smooth sections can be identified with Weyl structures for the geometry. We show that the initial parabolic geometry defines a reductive Cartan geometry on $A$, which induces an almost bi-Lagrangian structure on $A$ and a compatible linear connection on $TA$. We prove that the split-signature metric given by the almost bi-Lagrangian structure is Einstein with non-zero scalar curvature, provided the parabolic geometry is torsion-free and $|1|$-graded. We proceed to study Weyl structures via the submanifold geometry of the image of the corresponding section in $A$. For Weyl structures satisfying appropriate non-degeneracy conditions, we derive a universal formula for the second fundamental form of this image. We also show that for locally flat projective structures, this has close relations to solutions of a projectively invariant Monge-Ampere equation and thus to properly convex projective structures., Comment: 39 pages, final version, to appear in Commun. Contemp. Math

In this paper, we consider discrete groups in ${\rm PGL}_d(\mathbb{R})$ acting convex co-compactly on a properly convex domain in real projective space. For such groups, we establish an analogue of the well known flat torus theorem for ${\rm CAT}(0)$ spaces., Comment: Minor revisions, to appear in the Journal of the London Mathematical Society. 20 pages. Comments welcome

In the present paper we study $S^2 \times R$ and $H^2 \times R$ geometries, which are homogeneous Thurston 3-geometries. We analyse the interior angle sums of geodesic triangles in both geometries and prove, that in $S^2 \times R$ space it can be larger or equal than $\pi$ and in $H^2 \times R$ space the angle sums can be less or equal than $\pi$. In our work we will use the projective model of $S^2 \times R$ and $H^2 \times R$ geometries described by E. Moln\'ar in \cite{M97}., Comment: 22 pages and 10 figures. arXiv admin note: substantial text overlap with arXiv:1703.06646, arXiv:1611.05613

Projective connections arise from equivalence classes of affine connections under the reparametrization of geodesics. They may also be viewed as quotient systems of the classical geodesic equation. After studying the link between integrals of the (classical) geodesic flow and its associated projective connection, we turn our attention to 2-dimensional metrics that admit one projective vector field, i.e. whose local flow sends unparametrized geodesics into unparametrized geodesics. We review and discuss the classification of these metrics, introducing special coordinates on the linear space of solutions to a certain system of partial differential equations, from which such metrics are obtained. Particularly, we discuss those that give rise to free second-order superintegrable Hamiltonian systems, i.e. which admit 2 additional, functionally independent quadratic integrals. We prove that these systems are parametrized by the 2-sphere, except for 6 exceptional points where the projective symmetry becomes homothetic., Comment: 23 pages, 5 tables

We study the base locus of the higher fundamental forms of a projective toric variety $X$ at a general point. More precisely we consider the closure $X$ of the image of a map $({\mathbb C}^*)^k\to {\mathbb P}^n$, sending $t$ to the vector of Laurent monomials with exponents $p_0,\dots,p_n\in {\mathbb Z}^k$. We prove that the $m$-th fundamental form of such an $X$ at a general point has non empty base locus if and only if the points $p_i$ lie on a suitable degree-$m$ affine hypersurface. We then restrict to the case in which the points $p_i$ are all the lattice points of a lattice polytope and we give some applications of the above result. In particular we provide a classification for the second fundamental forms on toric surfaces, and we also give some new examples of weighted $3$-dimensional projective spaces whose blowing up at a general point is not Mori dream., Comment: Final version, to appear on JPAA

We present a method for solving two minimal problems for relative camera pose estimation from three views, which are based on three view correspondences of i) three points and one line and the novel case of ii) three points and two lines through two of the points. These problems are too difficult to be efficiently solved by the state of the art Groebner basis methods. Our method is based on a new efficient homotopy continuation (HC) solver framework MINUS, which dramatically speeds up previous HC solving by specializing HC methods to generic cases of our problems. We characterize their number of solutions and show with simulated experiments that our solvers are numerically robust and stable under image noise, a key contribution given the borderline intractable degree of nonlinearity of trinocular constraints. We show in real experiments that i) SIFT feature location and orientation provide good enough point-and-line correspondences for three-view reconstruction and ii) that we can solve difficult cases with too few or too noisy tentative matches, where the state of the art structure from motion initialization fails., Comment: First appeared at CVPR - Computer Vision and Pattern Recognition Conference 2020. This material is based upon work supported by the National Science Foundation under Grant No. DMS-1439786 while most authors were in residence at Brown University's Institute for Computational and Experimental Research in Mathematics -- ICERM, in Providence, RI

We define Cayley structures as a field of Cayley's ruled cubic surfaces over a four dimensional manifold and motivate their study by showing their similarity to indefinite conformal structures and their link to differential equations. In particular, for Cayley structures an extension of certain notions defined for indefinite conformal structures in dimension four are introduced, e.g., half-flatness, existence of a null foliation, ultra-half-flatness, an associated pair of second order ODEs, and a dispersionless Lax pair. After solving the equivalence problem we obtain the fundamental invariants, find the local generality of several classes of Cayley structures and give examples., Comment: 40 pages; Minor changes in the introduction and bibliography; Final version

Let S be an orientable, finite type surface with negative Euler characteristic. The augmented moduli space of convex real projective structures on S was first defined and topologized by the first author. In this article, we give an explicit description of this topology using explicit coordinates. More precisely, given every point in this augmented moduli space, we find explicit continuous coordinates on the quotient of a suitable open neighborhood about this point by a suitable subgroup of the mapping class group of S. Using this, we give a simpler proof of the fact that the augmented moduli space of convex real projective structures on S is homeomorphic to the orbifold vector bundle of regular cubic differentials over the Deligne-Mumford compactification of the moduli space of Riemann surfaces homeomorphic to S., Comment: 45 pages, 18 figures, 1 appendix

This paper combines two classical theories, namely metric projective differential geometry and superintegrability. We study superintegrable systems on 2-dimensional geometries that share the same geodesics, viewed as unparametrized curves. We give a definition of projective equivalence of such systems, which may be considered the projective analog of (conformal) St\"ackel equivalence (coupling constant metamorphosis). Then, we discuss the transformation behavior for projectively equivalent superintegrable systems and find that the potential on a projectively equivalent geometry can be reconstructed from a characteristic vector field. Moreover, potentials of projectively equivalent Hamiltonians follow a linear superimposition rule. The techniques are applied to several examples. In particular, we use them to classify, up to St\"ackel equivalence, the superintegrable systems on geometries with one, non-trivial projective symmetry., Comment: 18 pages, 2 figures, 1 table. Reorganized and further examples have been added

The manifold $\mathcal{M}$ of star-shaped curves in $\mathbb{R}^n$ is considered via the theory of connections on vector bundles, and cyclic $\mathcal{D}$-modules. The appropriate notion of an "integral curve" (i.e. certain admissible deformations) on $\mathcal{M}$ is defined, and the resulting space of admissible deformations is classified via iso-spectral flows, which are shown to be described by equations from the $n$-KdV hierarchy., Comment: accepted for publication in Kyushu J. Math

A natural parametrization of smooth projective plane curves which tolerates the presence of sextactic points is the Forsyth-Laguerre parametrization. On a closed projective plane curve, which necessarily contains sextactic points, this parametrization is, however, in general not periodic. We show that by the introduction of an additional scalar parameter $\alpha \leq \frac12$ one can define a projectively invariant $2\pi$-periodic global parametrization on every simple closed convex sufficiently smooth projective plane curve without inflection points. For non-quadratic curves this parametrization, which we call balanced, is unique up to a shift of the parameter. The curve is an ellipse if and only if $\alpha = \frac12$, and the value of $\alpha$ is a global projective invariant of the curve. The parametrization is equivariant with respect to duality., Comment: submitted to Journal of Geometry

Starting from the observation that a flying saucer is a nonholonomic mechanical system whose 5-dimensional configuration space is a contact manifold, we show how to enrich this space with a number of geometric structures by imposing further nonlinear restrictions on the saucer's velocity. These restrictions define certain `manoeuvres' of the saucer, which we call `attacking,' `landing,' or `G2 mode' manoeuvres, and which equip its configuration space with three kinds of flat parabolic geometry in five dimensions. The attacking manoeuvre corresponds to the flat Legendrean contact structure, the landing manoeuvre corresponds to the flat hypersurface type CR structure with Levi form of signature (1,1), and the most complicated G2 manoeuvre corresponds to the contact Engel structure with split real form of the exceptional Lie group G2 as its symmetries. A celebrated double fibration relating the two nonequivalent flat 5-dimensional parabolic G2 geometries is used to construct a `G2 joystick,' consisting of two balls of radii in ratio 1:3 that transforms the difficult G2 manoeuvre into the pilot's action of rolling one of joystick's balls on the other without slipping nor twisting., Comment: 25 pages

The Laplace equation in the two-dimensional Euclidean plane is considered in the context of the inverse stereographic projection. The Lie algebra of the conformal group as the symmetry group of the Laplace equation can be represented solely in terms of the solutions and derivatives of the solutions of the Laplace equation. It is then possible to put contents from differential geometry and quantum systems, like the Hopf bundle, relativistic spin, bicomplex numbers, and the Fock space into a common context. The basis elements of the complex numbers, considered as a Clifford paravector algebra, are reinterpreted as differential tangent vectors referring to dilations and rotations. In relation to this a homogeneous space is defined with the Lie algebra of the conformal group, where dilations and rotations are the coset representatives. Potential applications in physics are discussed.

We introduce the flag-approximability of a convex body to measure how easy it is to approximate by polytopes. We show that the flag-approximability is exactly half the volume entropy of the Hilbert geometry on the body, and that both quantities are maximized when the convex body is a Euclidean ball. We also compute explicitly the asymptotic volume of a convex polytope, which allows us to prove that simplices have the least asymptotic volume., Comment: 15 pages, 2 figures

We consider an $n$-dimensional projective space $\mathbb{P}_n$ ($n\geq2$) and a fixed point $A$ on it. Let $F(\mathbb{P}_n)$ be the manifold of all the projective frames of $\mathbb{P}_n$ having $A$ as their first vertice. We define the action of stabilizer G of $A$ in the projective group $GP(n)$ in a natural way. The Lie group epimorphism $\beta\colon G\to GL(V)$ acts as follows $g\mapsto d_A g$ where $V=T_A \mathbb{P}_n$. We study the geometry of orbit space $\Phi(\mathbb{P}_n)$ of the space $F(\mathbb{P}_n)$ under the action of the kernel $H= ker\beta$ of the epimorphism $\beta$. By applying some $n$-dimensional version of the Desargues theorem we could get a purely geometrical description of such $H$-orbits