Having trouble compiling ffmpeg code in command terminal

I am having a bit of trouble compiling my c++ code in my terminal. I have ffmpeg installed as shown below.

ffmpeg version n4.1 Copyright (c) 2000-2018 the FFmpeg developers
  built with gcc 7 (Ubuntu 7.4.0-1ubuntu1~18.04.1)
  configuration: --enable-gpl --enable-version3 --disable-static --enable-shared --enable-small --enable-avisynth --enable-chromaprint --enable-frei0r --enable-gmp --enable-gnutls --enable-ladspa --enable-libaom --enable-libass --enable-libcaca --enable-libcdio --enable-libcodec2 --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libjack --enable-libmodplug --enable-libmp3lame --enable-libopencore-amrnb --enable-libopencore-amrwb --enable-libopencore-amrwb --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librsvg --enable-librubberband --enable-librtmp --enable-libshine --enable-libsmbclient --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtesseract --enable-libtheora --enable-libtwolame --enable-libv4l2 --enable-libvo-amrwbenc --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx264 --enable-libx265 --enable-libxvid --enable-libxml2 --enable-libzmq --enable-libzvbi --enable-lv2 --enable-libmysofa --enable-openal --enable-opencl --enable-opengl --enable-libdrm
  libavutil      56. 22.100 / 56. 22.100
  libavcodec     58. 35.100 / 58. 35.100
  libavformat    58. 20.100 / 58. 20.100
  libavdevice    58.  5.100 / 58.  5.100
  libavfilter     7. 40.101 /  7. 40.101
  libswscale      5.  3.100 /  5.  3.100
  libswresample   3.  3.100 /  3.  3.100
  libpostproc    55.  3.100 / 55.  3.100
Hyper fast Audio and Video encoder
usage: ffmpeg [options] [[infile options] -i infile]... {[outfile options] outfile}...

However, when I compile my c++ code, currently trying to get NTP timestamps from private data in ffmpeg but I need to include their headers? I have looked into ffmpeg's libavformat folder and it does have rtpdec.h but when I compile it in the command line, i get this error. (trying to include this header for RTSPState and RTSPStream as well as RTPDemuxContext)

cf.cpp:11:10: fatal error: libavformat/rtsp.h: No such file or directory
 #include <libavformat/rtpdec.h>
          ^~~~~~~~~~~~~~~~~~~~
compilation terminated.

This is my code:

#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <fstream>
#include <sstream>

extern "C" {
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libavformat/avio.h>
#include <libavformat/rtpdec.h>
#include <libswscale/swscale.h>
}

int main(int argc, char** argv) {

    // Open the initial context variables that are needed
    SwsContext *img_convert_ctx;
    AVFormatContext* format_ctx = avformat_alloc_context();
    AVCodecContext* codec_ctx = NULL;
    int video_stream_index;
    uint32_t* last_rtcp_ts;
    double* base_time;
    double* time;

    // Register everything
    av_register_all();
    avformat_network_init();

    //open RTSP
    if (avformat_open_input(&format_ctx, "rtsp://admin:password@192.168.1.67:554",
            NULL, NULL) != 0) {
        return EXIT_FAILURE;
    }

    if (avformat_find_stream_info(format_ctx, NULL) < 0) {
        return EXIT_FAILURE;
    }

    //search video stream
    for (int i = 0; i < format_ctx->nb_streams; i++) {
        if (format_ctx->streams[i]->codec->codec_type == AVMEDIA_TYPE_VIDEO)
            video_stream_index = i;
    }

    AVPacket packet;
    av_init_packet(&packet);

    //open output file
    AVFormatContext* output_ctx = avformat_alloc_context();

    AVStream* stream = NULL;
    int cnt = 0;

    //start reading packets from stream and write them to file
    av_read_play(format_ctx);    //play RTSP

    // Get the codec
    AVCodec *codec = NULL;
    codec = avcodec_find_decoder(AV_CODEC_ID_H264);
    if (!codec) {
        exit(1);
    }

// Add this to allocate the context by codec
codec_ctx = avcodec_alloc_context3(codec);

avcodec_get_context_defaults3(codec_ctx, codec);
avcodec_copy_context(codec_ctx, format_ctx->streams[video_stream_index]->codec);
std::ofstream output_file;

if (avcodec_open2(codec_ctx, codec, NULL) < 0)
    exit(1);

    img_convert_ctx = sws_getContext(codec_ctx->width, codec_ctx->height,
            codec_ctx->pix_fmt, codec_ctx->width, codec_ctx->height, AV_PIX_FMT_RGB24,
            SWS_BICUBIC, NULL, NULL, NULL);

    int size = avpicture_get_size(AV_PIX_FMT_YUV420P, codec_ctx->width,
            codec_ctx->height);
    uint8_t* picture_buffer = (uint8_t*) (av_malloc(size));
    AVFrame* picture = av_frame_alloc();
    AVFrame* picture_rgb = av_frame_alloc();
    int size2 = avpicture_get_size(AV_PIX_FMT_RGB24, codec_ctx->width,
            codec_ctx->height);
    uint8_t* picture_buffer_2 = (uint8_t*) (av_malloc(size2));
    avpicture_fill((AVPicture *) picture, picture_buffer, AV_PIX_FMT_YUV420P,
            codec_ctx->width, codec_ctx->height);
    avpicture_fill((AVPicture *) picture_rgb, picture_buffer_2, AV_PIX_FMT_RGB24,
            codec_ctx->width, codec_ctx->height);

    while (av_read_frame(format_ctx, &packet) >= 0 && cnt < 1000) { //read ~ 1000 frames

        RTSPState* rt = format_ctx->priv_data;
        RTSPStream *rtsp_stream = rt->rtsp_streams[0];
        RTPDemuxContext* rtp_demux_context = rtsp_stream->transport_priv;
        uint32_t new_rtcp_ts = rtp_demux_context->last_rtcp_timestamp;
        uint64_t last_ntp_time = 0;

        if (new_rtcp_ts != *last_rtcp_ts) {
            *last_rtcp_ts = new_rtcp_ts;
            last_ntp_time = rtp_demux_context->last_rtcp_ntp_time;
            uint32_t seconds = ((last_ntp_time >> 32) & 0xffffffff) - 2208988800;
            uint32_t fraction  = (last_ntp_time & 0xffffffff);
            double useconds = ((double) fraction / 0xffffffff);
            *base_time = seconds + useconds;
            uint32_t d_ts = rtp_demux_context->timestamp - *last_rtcp_ts;
            *time = *base_time + d_ts / 90000.0;
            std::cout << "Time is: " << *time << std::endl;
        }

        std::cout << "1 Frame: " << cnt << std::endl;
        if (packet.stream_index == video_stream_index) {    //packet is video
            std::cout << "2 Is Video" << std::endl;
            if (stream == NULL) {    //create stream in file
                std::cout << "3 create stream" << std::endl;
                stream = avformat_new_stream(output_ctx,
                        format_ctx->streams[video_stream_index]->codec->codec);
                avcodec_copy_context(stream->codec,
                        format_ctx->streams[video_stream_index]->codec);
                stream->sample_aspect_ratio =
                        format_ctx->streams[video_stream_index]->codec->sample_aspect_ratio;
            }
            int check = 0;
            packet.stream_index = stream->id;
            std::cout << "4 decoding" << std::endl;
            int result = avcodec_decode_video2(codec_ctx, picture, &check, &packet);
            std::cout << "Bytes decoded " << result << " check " << check
                    << std::endl;
            if (cnt > 100)    //cnt < 0)
                    {
                sws_scale(img_convert_ctx, picture->data, picture->linesize, 0,
                        codec_ctx->height, picture_rgb->data, picture_rgb->linesize);
                std::stringstream file_name;
                file_name << "test" << cnt << ".ppm";
                output_file.open(file_name.str().c_str());
                output_file << "P3 " << codec_ctx->width << " " << codec_ctx->height
                        << " 255\n";
                for (int y = 0; y < codec_ctx->height; y++) {
                    for (int x = 0; x < codec_ctx->width * 3; x++)
                        output_file
                                << (int) (picture_rgb->data[0]
                                        + y * picture_rgb->linesize[0])[x] << " ";
                }
                output_file.close();
            }
            cnt++;
        }
        av_free_packet(&packet);
        av_init_packet(&packet);
    }
    av_free(picture);
    av_free(picture_rgb);
    av_free(picture_buffer);
    av_free(picture_buffer_2);

    av_read_pause(format_ctx);
    avio_close(output_ctx->pb);
    avformat_free_context(output_ctx);

    return (EXIT_SUCCESS);
}

The command i use to compile my code: g++ -w cf.cpp -o cf $(pkg-config --cflags --libs libavformat libswscale libavcodec)

I am a bit new to coding in FFmpeg.