Problem $5.(12$ points.$)$ Consider the stereo camera arrangement in the diagram below, as viewed from above. This arrangement is similar to the common stereo imaging set$-$up that we have discussed in lectures, except that both cameras have rotated inward by an angle $\backslash (\backslash$theta $\backslash ).$ The two optical axes $($O$.$A$.)$ are coplanar, and both cameras have the same focal length $\backslash ($ f $\backslash ).$ Vertical axes for the two cameras, $\backslash ($ y$\_\{$L$\}\backslash )$ and $\backslash ($ y$\_\{$R$\}\backslash ),$ are not shown, and are perpendicular to this page. When the cameras rotate, the baseline distance $\backslash ($ B $\backslash )$ does not change.

If possible, find the essential matrix for this system. $($If not possible, explain your reasoning.$)$