hector_quadrotor hector_quad

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Dear all Hi. I am now trying to use hector_slam and hector_localization same as hector_quadrotor. I have 2D hokuyo lidar, IMU and 1D height sensor. When I launch all the program, 2D map, and laser result at current position could be seen at rviz. But the example movies in hector_quadrotor (indoor demo or outdoor demo) shows 3D map. Just like 3D laser scan result remains on the map. How is it possible? Is that mean hector_slam uses 3D map when IMU and height information available? How can I make same result? I really waiting for your answer. Thank you in advance.

Best regards.