Since that linked article doesn't tell you exactly how to get the proper adjustment on your mirrors, the best way to follow SAE is by placing your head against the drivers window and adjusting the driver side mirror until you just see the edge of your vehicle, and then lean your head toward the very middle of the car and adjust the passenger side mirror until you just see the edge of your vehicle.
This should put the mirrors about 15 degrees out from the standard adjustment, and make it so that you have no blind spots (when used in conjunction with a windshield mounted rear view mirror).
The SAE recommendations also don't apply to cars w/out a windshield mounted rear view mirror, or an opaque back, you should still adjust the mirrors so you can see the tail of your vehicle in those cases.