diff --git a/gtsam/geometry/Pose2.cpp b/gtsam/geometry/Pose2.cpp
index 71df0f753..bebe53dfa 100644
--- a/gtsam/geometry/Pose2.cpp
+++ b/gtsam/geometry/Pose2.cpp
@@ -48,7 +48,13 @@ Matrix3 Pose2::matrix() const {
 
 /* ************************************************************************* */
 void Pose2::print(const string& s) const {
-  cout << s << "(" << t_.x() << ", " << t_.y() << ", " << r_.theta() << ")" << endl;
+  cout << s << this << endl;
+}
+
+/* ************************************************************************* */
+std::ostream &operator<<(std::ostream &os, const Pose2& pose) {
+  os << "(" << pose.x() << ", " << pose.y() << ", " << pose.theta() << ")";
+  return os;
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/geometry/Pose2.h b/gtsam/geometry/Pose2.h
index 6372779c3..a54951728 100644
--- a/gtsam/geometry/Pose2.h
+++ b/gtsam/geometry/Pose2.h
@@ -287,6 +287,10 @@ public:
    */
   static std::pair<size_t, size_t> rotationInterval() { return std::make_pair(2, 2); }
 
+  /// Output stream operator
+  GTSAM_EXPORT
+  friend std::ostream &operator<<(std::ostream &os, const Pose2& p);
+
   /// @}
 
  private: