Answered on stackoverflow. You need libmysqlclient-dev (libmariadbclient-dev) package for mysql_config and required header files.
aptitude install git build-essential libmysqlclient-dev
To install MySQL Infusion UDF:
git clone https://github.com/infusion/udf_infusion.git
cd udf_infusion
./configure
make
sudo make install
mysql <options> < load.sql
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