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I found these two examples to be very good they are in C++
http://wiki.ros.org/image_transport/Tutorials/PublishingImages
http://wiki.ros.org/image_transport/Tutorials/SubscribingToImages
another example in python:
http://wiki.ros.org/cv_bridge/Tutorials/ConvertingBetweenROSImagesAndOpenCVImagesPython
From my experience I found the python image publisher and subscriber a little slow. I would recommend to code them in C++ if possible.