I had the same issue today and this is the solution I found. I need to specify both commands for it to work in a non-default install directory:
cmake -DCMAKE_INSTALL_PREFIX=/opt/VTK -DCMAKE_INSTALL_RPATH=/opt/VTK/lib -DCMAKE_INSTALL_RPATH_USE_LINK_PATH=TRUE /opt/VTK-src
Now I can include VTK and ldd finds all libraries!