short answer: just back from RHB branch and got back my card.
First the RHB CS told me whatever card held in ATM cannot be returned and will be send to card issuer, so I need to contact card issuer myself.
I asked her, what if it is oversea card? are you going to send back as well? then she asked me to look for officer in charge of ATM behind teller counters.
at first the officer told me the same, asked me the card got my name or not, if told her no, then she said it's probably due to MEPS failed to verify my name, and the card is blocked (this is not true, BP does not use MEPS Network at all, its going though Mastercard Network instead)

hence ATM retained the card, and they just can't return me the card as they won't be able to verify owner of card, then I told her I know the last 4 digit of card and you have CCTV, your ATM took my card without my permission, why should I pay for card replacement fees?
Then she went to open the ATM for the card, and called BP to verify ownership, in turn the BP called me back in few mins to do verification before releasing info to RHB officer (and she asked BP if the card is blocked or active! lol!!!). very well done for prompt action from BP CS, sorry I didn't get his name

Finally I got my card after RHB verify IC with thumbprint and signed for acknowledgment.
If all failed, perhaps need to "remind" them feedback to HQ/BNM.
TGIF all!
PS. I confirmed the card is usable as I made a withdrawal from CIMB some mins ago.
BigPayJonathan bravo to BP CS this time
So today is my unlucky day, I did not read this post previously and this sh!t happened to me today! Went to RHB to try taking out 4k, atm said max 2k, then swallowed my card. Bloody bank!
So I called rhb call center and that fella said he can't help me because he is just from call center. I told him wtf this happened at your bank branch with your atm, you can at least help me to make a report....then he asked, so what do you actually want sir? You want your card back is it? (at this point I lost it, if I don't want my card back why did I call? Lol)
Wish me luck on Monday to get back the card.
U might wanna put this as a warning in 1st page to let people know.