The loosen the bolts, pull brakes on and tighten is not very accurate but can work.
The best way is to look down the caliper to see the brake pad clearance is equal on both sides and spin the wheel slowly. If it is not even then loosen both bolts and line it up by eye. Then carefully retighten making sure the gaps stays the same both sides. Ride the bike at speed, slam the brakes on hard a few times without locking the wheel. They may rub a little afterwards so adjust by eye again. This assumes the pads are undamaged, there is nothing trapped behind the pads, there is not too much fluid in the brakes, the rotors are bolted on properly, the wheel is tightened in firmly / straight etc.
If the rotor is damaged or very bent it will be obvious when you spin the wheel. Minor imperfections will not matter once brakes adjusted properly.