Sounds like a build error.

install pkg-config from your distro's package manager; like on Debian, you would do: sudo apt install pkg-config

This won't be your last error though, if you currently have no build-essential tools. If you want to just squat a few flies before they hit you, look up these tools and install them: autoconf, autoheader, automake, make, libtool (sometimes also libtoolize), gcc, g++

That won't solve all things though but should have your bases covered.