The way you're trying to do things won't work. Though that function is
public, calling it returns an instance of the canvas which is
disconnected from DOMDPF. So when you stream the PDF the header won't
be present in your document.
The $pdf methods were really meant to be called internally to the
object. So what you should be doing is something like this:
$html = "<html><body><script type="text/php">
$pdf = $dompdf->get_canvas();
$footer = $pdf->open_object();
$pdf->image('logo.png', 'png', 36, 734, 540, 20);
$pdf->close_object();
$pdf->add_object($footer, "all");
</script></body><html>";
$dompdf = new DOMPDF();
$dompdf->load_html($html);
$dompdf->render();
$dompdf->stream("hello_world.pdf");
Also, I believe $pdf->image() will load the image relative to the PHP
script being executed. So you can use 'logo.png' but it will need to
be in the same directory. Otherwise you should specify the absolute
path (or full URL) where the image can be found.
Hope that helps.
-b