Linux applications do not yet support the newest 2.x Apple firmware for the iPhone and iPod Touch. But if you want to copy images from the Pictures folder, all you need is SSH installed on the device:
scp firstname.lastname@example.org:/private/var/mobile/Media/DCIM/999APPLE/*.PNG ~/Desktop/
This will copy all images from an iPhone that has the 192.168.1.33 static IP directly unto your desktop.
Note: the default root password for iPhone and iPod Touch devices is alpine .