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This function itself returns the RMS Error of the Calibration. Please check the API documentation.

Sample usage located in \sources\samples\cpp\calibration.cpp

double rms = calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
                    distCoeffs, rvecs, tvecs, flags|CALIB_FIX_K4|CALIB_FIX_K5);
                    ///*|CALIB_FIX_K3*/|CALIB_FIX_K4|CALIB_FIX_K5);
    printf("RMS error reported by calibrateCamera: %g\n", rms);