A rough guide that doesn't take into account tyre size or model variations:
If you want to be a bit more accurate, here is the precise method that accounts for model variations and different tyre sizes:
One other thing to keep in mind is that the ride height won't be quite the same depending on whether the car has made an upwards correction or downwards correction, there will be some undershoot or overshoot. For example the reading might be 170mm after the car rises but 160mm after it falls, so you need to measure it both ways and take the average.
I just lift the car by hand until it starts to drop then let go, it will then rise again - I then take my upwards measurement. I then sit on it so it drops, after it rises up I get off, the car will then fall, I then take my downwards measurement then take the half way point between the two.