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This will do what you want, assuming you have an RGB image. If not, you can check the data.encoding and add some extra logic.

import numpy as np
import rospy 
from sensor_msgs.msg import Image
from rospy.numpy_msg import numpy_msg

def vis_callback( data ):
  im = np.frombuffer(data.data, dtype=np.uint8).reshape(data.height, data.width, -1)
  doSomething(im)

rospy.init_node('bla', anonymous=True)
sub_vis = rospy.Subscriber('navbot/camera/image', numpy_msg(Image), vis_callback)

rospy.spin()