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It seems there is a missing optical rotation TF. You may try this:

<arg name="pi/2" value="1.5707963267948966" />
<node pkg="tf" type="static_transform_publisher" name="duo3d_base_link" args="0 0 0 -$(arg pi/2) 0 -$(arg pi/2) /duo3d/camera_frame duo3d_camera 100" />

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