There's a ton of software and services out there. I've never used one personally, so couldn't hazard a guess on which is the best. Formatting doesn't actually delete or overwrite the data, it just removes the markers that tell a file system that a file is there
I used some weird free software for OSX and it recovered most of my files for me (.mov and .jpg). Forget what it's called but it runs in the terminal, kind of weird. Lexar has software that does the same thing and isn't free. Just don't shoot any more with it.