Can't find nvjpeg.h

I am trying to compile a c++ program for jpeg decoding, but the nvjpeg.h file is not on my system anywhere. I do have /usr/lib/aarch64-linux-gnu/tegra/

My system is the Orin developer kit.
The docs say to install the multi-media extensions as part of jetpack, and subsequent attempts to install nvidia-jetpack give:
nvidia-jetpack is already the newest version (5.0.1-b118)

I can install the cuda-11-7 for arm server, and this has the nvjpeg.h file, but this does not seem right.
Any ideas on how to get the installed?