Here's how I see it. The jutsu Danzo used was NOT KA. This could be the whole 1 jutsu in 1 MS eye, the other jutsu in the other eye. To me, the jutsu Danzo used on Mifune does NOT require eye contact. However, it manifests itself differently than KA. The jutsu that Danzo used can only strongly suggest a certain course for one to go in, but they won't necessarily go do it for sure. KA on the other hand overrides everything in forcing you to do it. This means that Danzo's can be used relatively unknowingly in public, which makes it more useful in certain scenarios (like the summit).
KA to me DOES require eye contact. We can sort of infer this when it was used on Itachi. Once he made eye contact with the crow, he was caught in the genjutsu. This is of course, only my opinion on the matter.