Did you look at Wink? It's designed for exactly that, except it compiles the screenshots into a screencast. It can be limited to a window, or even part of a window; it takes screenshots upon changes (well, on mouse and keyboard events), and when it fails, you can take one manually by pressing a single key.
I feel certain that there's a way to get the screenshots out of it; it has the option to save as PDF instead of as Flash, so it seems reasonable that it can save a series of image files, too.
Yep:
# Input formats: Capture screenshots from your PC, or use images in BMP/JPG/PNG/TIFF/GIF formats.
# Output formats: Macromedia Flash, Standalone EXE, PDF, PostScript, HTML or any of the above image formats. Use Flash/html for the web, EXE for distributing to PC users and PDF for printable manuals.