You can do it by eye, or use a gauge but the problem isn't that simple.
What you need to do is ensure that the pads both touch and exert force on the brake disc equally and at the same time.
There are a number of reasons why this may not happen.
1) The brake disc must be at right angles to the rear axle
2) The brake calipers must be mounted in the same plane as the brake disc
3) The pistons must advance equally
4) The pads must present to the discs 'flat' and must remain 'flat' while braking.
If all these conditions are true, then you can usually centre you brake disc by eye, or more accurately with a gauge.
if your pads are worn unevenly (ie thicker in one place than another)then you have a problem.
Some people are happy to accept the problem others want to correct them. (there is a thread in the archives which goes in to some detail about fixing these problems)
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