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The state of the Art and Open Source SLAM Algorithm for Visual SLAM and in your case Stereo SLAM to get the correct scale of the scene is in my opinion ORB-SLAM2. It can be used without ROS but there are also little ROS Wrappers for it available. It is based on ORB (Oriented FAST and Rotated BRIEF) Features, operates on Realtime, provides loop closures and relocalization. Depending on how fast is your system the poses and mappoints are optimized pretty good. The sparse reconstruction of the environment makes it possible to map even large areas. For more information check the papers which are linked in the git repository.
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