/usr/bin/ld: cannot find -lvpi

I am working in Jetson Xavier NX developer kit. My jetpack version is 5.1.2-b104
I have add jetson-inference in my CMakeList.txt
When i build the project, I got the following error.
/usr/bin/ld: cannot find -lvpi
collect2:error: ld returned 1 exit staus


Do you need the VPI library?
If yes, please use -lnvvpi instead.

$ sudo find / -iname libnvvpi*