I wanted to post this a long time ago, but I couldn't login because my Sourceforge account was broken. Nevertheless, now I'm here and want to present to you:aNXTCam
aNXTCam is a primary written for Linux system, but was also ported to Mac OS by a guy from Mindsensors. aNXTCam offers you to fetch images from your NXTCam, upload color maps and track objects. It has a clean Gtk GUI and if you like you can store color maps into a simple file format, which is used by all my aNXT software (There is also an icon for color map files on my blog). E.g. you can create a colormap with aNXTCam upload it to your NXT and load it from a NXC program using NXC NXTCam API (http://nxtsnippets.wordpress.com/2011/0 ... interface/
BTW: Unfortunately I can't continue development on aNXTCam for the moment, because I doesn't have a NXTCam anymore. But I hope to buy a new one in future.