My personal rule of thumb, and this is just me, is after doing a few dives where I've had no trouble being underweighted, and my tank is down around 500 PSI and I've finished a 15-minute safety stop, at what's likely to be my lightest point in the dive, lift my inflator up and hit the button to release air from my BCD (BP/W wing now). If a small amount escapes, okay. If a substantial amount of gas escapes, and I sink quickly...I may be overweighted.
Other divers may have better 'tricks' for determining their weighting, and I make no claims to be good at it. I like to think mine is logical and conceptually simple (i.e.: easy enough for me to do).