I think 300ppi is standard print resolution. So an 800x600 image would be 2 inches (5cm) high at ideal print quality. A 3200x2400 image would be 8 inches (20cm) high, or about A4 size.
Obviously you can get away with lower res but it might start to look pixellated at smaller resolutions.
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Obviously you can get away with lower res but it might start to look pixellated at smaller resolutions.