To ballpark the saddle height, I set the foot horizontal with the leg fully extended at the bottom of the stroke, as recommended by Lennard Zinn. From there, it takes 3 cm rise of the heel to produce the commonly recommended 30 degree bend in the leg during normal pedaling. If you don't raise your heels that much, it will feel too high. It's still a decent starting point that takes into account your pedal stack height and the shoe & cleat thickness.