Exercise 5, Task 2. Theta

To continue with the camera calibration we need to find the angle theta on the robot's Y axis.

To achieve this we took a picture; then found the middle of the picture's corespondent point on the floor and measured the distance x from that specific point to the base of the camera, also on the floor.

The center of the picture correspondence on the floor - the end of the ruler. 

Then the height to the camera from the floor, z, was measured. We have:

x = 1.297m
z = 0.415m
theta = arctan ( x / y ) = arctan ( 0.415 / 1.297 ) = 17,743 deg 
theta = 0.309675 rad