The code mainly come from here.
Remember to modify the map reading path which in src/main.cpp to your own:
Map map = readMap("your_path/data/map3.txt");
Tpying the following commands to enter the CBS/build directory for out-of-class compilation
cd CBS/build
cmake -DCMAKE_INSTALL_PREFIX=/usr ..
make
sudo make install
Tpying the following commands to enter the CBS/build/src and launch the execuatable file main
cd CBS/build/src
./main