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Problem solved, while browsing other answers.
I changed the entry in rgbslam.launch from:
<param name="config/feature_detector_type" value="SIFTGPU"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->
<param name="config/feature_extractor_type" value="SIFTGPU"/><!-- also available: SIFT, SURF, SURF128 (extended SURF), ORB. -->
to:
<param name="config/feature_detector_type" value="ORB"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->
<param name="config/feature_extractor_type" value="ORB"/><!-- also available: SIFT, SURF, SURF128 (extended SURF), ORB. -->
SIFT and SURF work good as well, while GFTT produces another weird error.
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