Can my underage daughter be photographed in her bathing suit without my knowledge?

I assume the camera was put there for security purposes and/or to prevent unauthorized people from using the pool. It may also be there to provide aid in case someone gets injured [if it has a live feed to someone in the club house]. Your daughter has no expectancy of privacy at the pool and it is not illegal to take her pictures. The condo association owns the pictures but probably can not make commercial use of them without compensation or approval.

Is it a security camera that gets wiped every day? Is it a camera for a pervert to look at pictures of people in bathing suits? You need to get with the head of the association and find out why the camera is there. If the former reason, it is probably a good thing.