git clone https://github.com/Keylost/jetson-ffmpeg.git
cd jetson-ffmpeg
mkdir build
cd build
cmake ..
make
sudo make install
sudo ldconfig

clone one of supported ffmpeg versions
git clone git://source.ffmpeg.org/ffmpeg.git -b release/4.2 --depth=1
or
git clone git://source.ffmpeg.org/ffmpeg.git -b release/4.4 --depth=1
or
git clone git://source.ffmpeg.org/ffmpeg.git -b release/6.0 --depth=1
cd ffmpeg
get and apply patch for your ffmpeg version
wget -O ffmpeg_nvmpi.patch https://github.com/Keylost/jetson-ffmpeg/raw/master/ffmpeg_patches/ffmpeg4.2_nvmpi.patch
or
wget -O ffmpeg_nvmpi.patch https://github.com/Keylost/jetson-ffmpeg/raw/master/ffmpeg_patches/ffmpeg4.4_nvmpi.patch
or
wget -O ffmpeg_nvmpi.patch https://github.com/Keylost/jetson-ffmpeg/raw/master/ffmpeg_patches/ffmpeg6.0_nvmpi.patch
git apply ffmpeg_nvmpi.patch
./configure --enable-nvmpi
make

ffmpeg -c:v h264_nvmpi -i input_file -f null -

ffmpeg -i input_file -c:v h264_nvmpi <output.mp4>