Translate view from sensor position to lens position?

[Kaminski]

Yes sensor has both position and orientation (IS-900).

I am trying to run this on update so that I can use the euler information to determine which directions to apply the translation. When I use preTrans the view flies off in one direction.

I have tried subtracting the translation values from the preceding preTrans call, but that results in an accumulative translation error over time. I have also tried reseting each time before applying the preTrans. Both are commented out below. Thanks.

import viz
import viztask
import math

viz.go(viz.HMD | viz.STEREO)

isense = viz.add('intersense.dle')		
track = isense.addTracker()
main = viz.link(track,viz.MainView)

def mainLoop():
	yield viztask.waitKeyDown(' ')
	#Do Stuff

xOffOld=0.0
zOffOld=0.0
hmdLength = .29

def setViewTrackCorrection():
	global xOffOld,zOffOld
	#main.reset(viz.HEAD_POS)
	eul = main.getEuler()
	xOff = hmdLength*math.sin(math.radians(eul[0]))
	zOff = hmdLength*math.cos(math.radians(eul[0]))
	#main.postTrans([-xOffOld+xOff,0,-zOffOld+zOff])
	main.preTrans([xOff,0,zOff])
	xOffOld = xOff
	zOffOld = zOff

vizact.onupdate(1,setViewTrackCorrection)
viztask.schedule(mainLoop())