Work with the output of a Blender Game Engine camera in Python

Question

I'm simulating a lego nxt robot in Blender game engine. One of the steps is to simulate the sensors the lego nxt have. I managed to simulate colission and distance but i also need a color sensor.

One way is to use use a ray sensor that looks for a specific material or property but that is limited to only one color.

My idea was to use a camera with a very narrow field of view and take the color from there. I would also be very usefull if i ever wanted to simulate a camera onboard the robot.

Does anyone know how to work with the output of a blender camera?

I need a way to grab frames from a certain camera and then process those.