pi1 = [6.04;12.03];
   pi2 = [10.34;8.62];
   pi3 = [ 4.82;1.67];
   pi4 = [ 0.53;5.07];

   cxmax = max([pi1(1),pi2(1),pi3(1),pi4(1)]);
   cxmin = min([pi1(1),pi2(1),pi3(1),pi4(1)]);
   cymax = max([pi1(2),pi2(2),pi3(2),pi4(2)]);
   cymin = min([pi1(2),pi2(2),pi3(2),pi4(2)]);

   A = [1 0 0;-1 0 0;0 1 0; 0 -1 0];
   b = [cxmax;-cxmin;cymax;-cymin];
for i=1:length(GLOBAL_PIHA.Hyperplanes)  
	plotreg = linearcon([GLOBAL_PIHA.Hyperplanes{i}.c;0 0 1],[GLOBAL_PIHA.Hyperplanes{i}.d;0],A,b);
	plot(plotreg,[1 0 0]);
	disp(i);
	pause;
end