How long are the pieces you need? I am imagining a set to dies you push the round pipe through. You could have the shape you want cut in a thick piece of steel. You may need more than one die, as the tube would be to be gradulally transformed. You could have the die plates cut from steel plate at a shop with a laser cutter. The cut edges will not be smooth, you would have to use a die grinder to smooth and polish them. Also chamfer the input side to get the pipe started. Then use a hydraulic press to push the pipe through the die with lots of lubrication. If you only need a short section of the D then you could weld the round to it to get the length you need.
I have never done this it is just a thought.

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