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Turns out the only thing you need in this kind of situation is a static publisher, which can act like your robot/camera or whatever you want it to be:

rosrun tf static_transform_publisher 0.0063345755 -0.0315891403 0.6954298219  0.7681816 0.6275346 -0.0602996 -0.1116304 small_calibration_pattern monocular_camera 1000

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