I am wondering how I can evaluate the quality of camera calibration. The average reprojection error is SOME way, but it depends on the calibration target distance and its placement in the image, so it cannot be used indiscriminately. Suppose I take a handful of shots with the chessboard placed centrally and far away from the camera - the average reprojection error will be small, but the calibration will not be correct.
Is it, then, enough to take a picture of a chessboard filling the entire image (provided it is not too close to change the camera focus) and calculate the reprojection error on this single image?
Or perhaps I could print several small chessboards whose relative positions are precisely known, and the error in distance between these chessboards will be the measure of calibration quality? This distance could be checked at different angles, not only perpendicularly to the camera axis.
How should I do it the right way?