A data processing method for generating a compensation information for hacking or for determining the position and/or orientation of an object in space, the method comprising the following steps performed by a computer: a) acquiring a predetermined constraint information defining one or more relative or absolute positions and/or orientations of the object in space； b) acquiring position and/or orientation data of the object while the object is positioned or moved while fulfilling the predetermined constraint； and c) determining the compensation information based on the predetermined constraint information and the acquired position and/or orientation data of the object.
