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They should be passed in relative to the parent frame.

For example, you have base_link, located at (0, 0, 0) with a roll, pitch, and yaw of (0, 0, 0). Let's say that your sensor is located 1 meter in front of your robot, and it is inverted (upside down). Then, you would set the transform origin to (1, 0, 0) with RPY of (0, M_PI, 0).

tf::Transform xform;
xform.setOrigin(tf::Vector3(1.0, 0, 0));
xform.setRotation(tf::createQuaternionFromRPY(0, M_PI, 0));

If the sensor were located behind the robot, it would be:

tf::Transform xform;
xform.setOrigin(tf::Vector3(-1.0, 0, 0));
xform.setRotation(tf::createQuaternionFromRPY(0, M_PI, 0));