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convert Mat image into 2d Matrix double

Is there any way ,in which I can convert a Mat object into an double[][] array?I have some image proccesing algoritms that I don't know how to use them on Mat objects, but I can use them if I can find a way of transforming , on double[][]'s ! I'm a novice in Opencv! If the Mat's are converted into double[][]'s , and the Mat's are on 3 channels, do I lose some information, do I have to convert the Mat image in gray? What approach can I use?