your autotools project uses pkg-config , but it seems that you either don’t have it installed or you don’t have the "pkg-config ↔ autotools" glue ( pkg.m4 ) that the PKG_PROG_PKG_CONFIG macro provides.
if true, then autoreconf -i should have complained when reconfiguring configure (although probably only as a non-fatal warning) -> check your build logs.
you can fix it by installing pkg-config
NOTE : usually, if you get an error message, it is useful to break the problem into subtasks. since you are really calling four different tasks ( autoreconf , ./configure and make and sudo make install ), you can run them one at a time and see where this happens (in your case: 2nd task), and what is indicated in the previous steps (calling autoreconf).
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