How to use eigen::matrix3f as additional argument in callback functions?

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Dear all,

I would like to use eigen::matrix3f as additional argument in callback functions.

I define the matrix

    Eigen::Matrix3f R_bc;
R_bc << 0, -1,  0,
        1,  0,  0,
        0,  0,  1;

and the subsriber

ros::Subscriber sub = nh.subscribe<nav_msgs::Odometry>( "c_pose", 10, boost::bind(poseCallback, _1, &R_bc) );

and the callback function

void poseCallback(const nav_msgs::Odometry::ConstPtr& msg, const Eigen::Matrix3f* R_bc)

Is it correct? And how can I refer to the elements of R_bc in the callback function? Like print them with ROS_INFO?

What is if define a matrix array like R_bc[10], then how can I pass it to the callback function?