http://www.domain.com is the same as www.domain.com. http is the protocol in which web pages are formatted and sent and would be part of any "complete" URL.
So to answer your question, if there are no redirects in place you can choose either the non www or www version for your canonical tags. However if you are looking to consolidate to a particular version I would look at updating your htaccess file to create a redirect rule from one version to the other.
#Force non-www to www:
RewriteEngine on
RewriteCond %{HTTP_HOST} ^example.com [NC]
RewriteRule ^(.*)$ http://www.example.com/$1 [L,R=301,NC]
or
#Force www to non-www:
RewriteEngine on
RewriteCond %{HTTP_HOST} ^www.example.com [NC]
RewriteRule ^(.*)$ http://example.com/$1 [L,R=301]