Between SDK versions 2.16.1 and 2.16.2, the SDK's install size rose from 168 mb to 266 mb. The addition of the Unreal Engine 4 and OpenNI2 wrappers in 2.16.2 were probably the prime contributor to the 99 mb increase, then. It is likely not worth extracting the other wrappers, since between the original slim-feature launch version and 2.16.1, the install size only increased by about 10 mb.
You should need to keep the OpenGL systems in order for rs-capture to work.
CMake has a customization flag called BUILD_WITH_STATIC_CRT that increases the footprint of the binary when set to True but prevents the dependencies on Visual C++ redistributables.
I believe that it is under the Third Party > GLFW folder of the SDK.
GLFW is an open-source library for OpenGL.
I don't know how complete this is, and it hasn't been updated for a while so may be missing some important improvements/fixes recently added to the main SDK, but this may be of use to you: GitHub - SirDifferential/minimal_realsense2: Minimal C program to use realsense DS415 / DS435 sensors