Codegen for Bundle Adjustment

I am facing two issues when using codegen on my code. I have attached images of my code for reference.

1) The error report recognises cameraPoses as a struct even though it is a 2x2 table when I run the code. When I take the values in cameraPoses and make camPoses (as shown in the image), that is recognised as a table.

2) Once I use camPoses in Bundle Adjustment, I get a codegen error that says 'This function does not support one-dimensional indexing. I am not sure what that means because my variable dimensions match the documentation. I have also attached images of my variables and their dimensions.