Although the pyrometer approach exdos describes is definitely the best, few people have access to one or the patience to use it properly. Without knowing what tyres you are running and assuming you don't have a temp gauge to hand, then as a rule of thumb I would suggest you aim for *hot* pressures that are the same as your recommended *cold* pressures.
This will mean checking pressures and (usually) letting air out after the first few sessions. Try to leap out of the car and check them as quickly as possible after a session, don't stand around chatting for 5 minutes before you check them, and do the "outside" wheels first. After you have done this three or four times you should find that the pressures stabilise and then you can start playing about and drop or add a few psi here and there.
By "outside" I mean the tyres that are on the outside of the circuit most of the time, i.e. the left wheels on a clockwise circuit, as they tend to work hardest and get hottest fastest. Certainly in the Elise my left front would get hottest quickest (on a clockwise circuit, as they most are).
You will need a consistent/reliables easier gauge and a pump - don't forget to add air back at the end of the day. If you drive home on soft tyres you'll ruin the sidewalls.