Tracking issue: GTSAM 4.2 and boost 1.74

[tmcg0]

upgrade dependency to GTSAM 4.2 and Boost 1.74

This was the prior note on upgrading to GTSAM 4.1.1, expecting at least this to need to be done:
Notes on upgrading for GTSAM 4.1.1
Major thing that changed which will impact bioslam should be the gtsam::Point3 interface. Point3 is just typedef'd to a vector3 now. So there's no more Point3::vector() or dot or cross. These are just namespaced functions to gtsam.

• remove all gtsam::Point3::vector() calls. Just remove the vector() part, it's already typedef'd to a Vector3.
• Point3::cross() -> gtsam::cross()
• Point3::dot() -> gtsam::dot()
• Point3::norm() -> gtsam::norm3()