The main goal of this chapter is to study the groupwhere Ω is a properly convex open set of P d . The following fact is very basic and also very useful.Proposition 1.1. The action of the group Coll ± (Ω) on Ω is by isometries for the Hilbert distance. Consequently, the action of Coll ± (Ω) on Ω is proper, so Coll ± (Ω) is a closed subgroup of PGL d+1 (R) and so is a Lie group. 7 A hyperplane H is a supporting hyperplane at p ∈ ∂Ω when H ∩ Ω = ∅ and p ∈ H.