Harold Merklinger's book "focussing the view camera" does not make exactly an easy read, but was immensely helpful to me. It specifies in addition to the Scheimpflug rule the "hinge rule" which broadly states that, film standart vertical, at a given focal lens the tilt angle of the lens determines at which distance the plane of sharp focuss passes under the camera (or over it, if you tilt upwards), and the focus determines the angle of the focal plane.
There are tables included, but I found that, after some practice, just knowing the principle itself carries you a long way, the Scheimpflug rule itself alone being very inexact.