On my Jasper reports I join with AD_OrgInfo and AD_Image tables like this:
SELECT i.DocumentNo, i.Dateinvoiced, i.GrandTotal, img.Binarydata
FROM C_Invoice i
JOIN AD_OrgInfo oi
ON oi.AD_Org_ID = i.AD_Org_ID
JOIN AD_Image img
ON img.AD_Image_ID = oi.Logo_ID
WHERE i.C_Invoice_ID = $P{RECORD_ID}
The logo field type on jasper should be java.io.InputStream
Attached an example file