Generalize read_calibration function

[vdsmax]

We use different function to read the extrinsic calibration file of one experiment. (read_calibration_gps_prism, read_calibration_gps_prism_lidar, read_calibration_prism_lidar_marmotte). See if it is possible to generalize these functions.

[vdsmax]

Also check if we should add +0.01m to the measurement for the prisms