Since this may vary from car to car (due to sensors) it would stand to reason that all you need to do is fill the tank up and substract that amount of fuel from the total capacity of the gas tank. I was curious about this myself and ran across your question in trying to find out the tank capacity of my car to determine the same thing since I don't have a service manual. My Google search turned up the link below. Per this link, the actual capacity of the "original" tank is 15.9 gallons. My light is dim when it first comes on and only stays on for about 30 seconds before it goes off. If I continue driving, it comes back on maybe 10-15 miles later and stays on. Until now I assumed it had about 2 gallons left based on previous cars I've had that had low fuel sensors and I wouldn't drive more than 20 miles without refueling. When it came on last week I filled up (topped it off) and the tank took 13.3 gallons. So now I know that for THIS car I have about 2.5 gallons left when MY light comes on. Hope this helps.
http://www.edmunds.com/used/1990/Toyota/camry/11801/specs.html
about 10 liters
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