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How can I test if camera calibration was optimal?

Hello.

I want to test if I properly calibrated my camera. I succesfully calculate camera matrix, load XML files and open camera again with parameters loaded as explained here:

https://www.youtube.com/watch?v=v7jutAmWJVQ

and here:

https://docs.opencv.org/2.4/doc/tutorials/calib3d/camera_calibration/camera_calibration.html

But how can I know that camera calibtation was optimal? And how to visualize calibration effect?