I want to show the invariance of $E^2-c^2B^2$ under the Lorentz transformations. The obvious way to do this is to show that $$E^2-c^2B^2=E'^2-c^2B'^2,$$ where $E'$ and $B'$ are the Lorentz transformations of the electric and magnetic fields, respectively. This is quite a simple yet very inelegant calculation (one applies the Lorentz transformation to each of $E_x, E_y, E_z, B_x, B_y, B_z$ and the invariance follows).
How can I do this using the Maxwell tensor? I believe that it is possible to show invariance by doing the matrix multiplication of $$F_{\mu\nu}F^{\mu\nu}$$ but I am unsure of how to actually do this (I am confused about what what $F_{\mu\nu}$ actually is), and I am confused how this could stretch to showing the invariance of other things, because surely this matrix multiplication would always give the same answer...