Hi,
This is stereo. This was a video taken a year ago (I just made it public for convenience), so not sure about all parameters used. I would guess:
Odometry panel:
Odom/Strategy=1 (Frame-to-KeyFrame)
Odom/GuessMotion=true
Visual registration panel:
Vis/CorType=1 (Optical flow correspondences)
Vis/EstimationType=1 (3D->2D registration)
Vis/PnPReprojError=1
GFTT panel:
GFTT/QualityLevel=0.002
GFTT/MinDistance=10
cheers,
Mathieu