For installing from source, some instructions are provided in the readme:
./configure
make
make install
Note that the path variable defining were commands could be located in your Ubuntu 20.04 does not include the current directory. For that reason, you have to use ./configure to call that script.
If you are building directly from the git repository, you have to run
./autogen.sh instead of of configure. You can pass the same options to the
autogen.sh script as you would to the configure script.
The configure script is generated when creating a release package and therefore it is not present in the git repository, which is used for development. As @pleira mentioned above, you have to run autogen.sh instead of configure when building from the git repository and it will generate the configure script along with other files not included in git.