I recently built the code from source.  I used this page as a reference.
http://www.orfeo-toolbox.org/otb/download.html

I pulled using hg then I used the software guide section 2.2 as shown here
http://www.orfeo-toolbox.org/SoftwareGuide/SoftwareGuidech2.html#x14-210002.2

One thing I did was I used that chart with the required column entries to 
make sure I had the development version of each of the libraries in place 
before I started using cmake to build the code.

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