So they usually started with "...This is obviously Lorentz invariant, because of the 4-vector character of the quantity,..., (and after a two page long derivation) another quantity is also obviously Lorentz invariant". I have encountered this problem a lot of times in several physics textbooks.
I feel they are implying that as long as a quantity is a tensor, it is automatically invariant. But is there a formal way of knowing/proving this?
For example:
$$\int d^4 p \: \delta \left( p^2 - m^2 \right) \, \theta \left( p^0 \right) = \int \frac{d^3p}{2E_{\bf p}}.$$ "The relation shows that the expression $d^3p/2E_{\bf p}$ is Lorentz invariant."
How do they see this?