Integral geometry under the action of the first symplectic group (Q1396718)

The set \(\mathbb{H}\) of quaternion numbers is considered as a right vector space over \(\mathbb{H}\), and the first symplectic group \(\text{Sp}(1)\) as the subgroup of \(\text{GL}(1,\mathbb{H})\) preserving the product \(\overline uv\); \(\text{Sp}(1)\) is the unit hypersphere \(S^3(1)\) in \(\mathbb{H}\). The real alternating 2-forms \(\omega_1\), \(\omega_2\), \(\omega_3\) on \(\mathbb{H}\) are defined by \(\omega_1(u,v)= \langle ui,v\rangle\), \(\omega_2(u,v)=\langle uj,v\rangle\), \(\omega_3(u,v)=\langle u,k, v\rangle\), where \(\langle,\rangle\) is the canonical real inner product on \(\mathbb{H}\). For real subspaces \(V\) and \(W\) of dimension 2 in \(\mathbb{H}\) a \(\text{Sp}(1)\)-invariant \(A(V,W)\) is defined by \[ A(V, W)= (\omega_1(V) \omega_1(W)+ \omega_2(V) \omega_2(W)+ \omega_3(V) \omega_3(W))^2. \] A Poincaré formula \[ \int_{M(\mathbb{H})} \#(M\cap gN)\,d\mu_{M(\mathbb{H})}(g)= {\pi\over 4} \int_{M\times N}(1+ A(T_x M, T_y N))\,d\mu(x,y) \] is established for real surfaces \(M\) and \(N\) in \(\mathbb{H}\), where \(M(\mathbb{H})\) is the semi-direct product of \(\text{Sp}(1)\) and \(\mathbb{H}\), and \(\#(M\cap gN)\) is the set theoretic intersection number.