Just use your ears. Line them up in a very generic horizontal way and then adjust them to balance out the volume and tone of the cymbals. 6 ft - 6ft2in from the ground is a solid height but might need to be adjusted depending on the room and the height of the cymbals. Keep listening in the room to get an idea of how it "should" sound.
PS overhead bleed is your friend. Great recordings typically use a lot of drum sound from well-placed overheads to get a sense of space around the kit, but nothing is set in stone.