diff --git a/manim/camera/camera.py b/manim/camera/camera.py
index 636f43d7ef..6460313c0e 100644
--- a/manim/camera/camera.py
+++ b/manim/camera/camera.py
@@ -454,10 +454,10 @@ def is_in_frame(self, mobject):
         return not reduce(
             op.or_,
             [
-                mobject.get_right()[0] < fc[0] - fw,
-                mobject.get_bottom()[1] > fc[1] + fh,
-                mobject.get_left()[0] > fc[0] + fw,
-                mobject.get_top()[1] < fc[1] - fh,
+                mobject.get_right()[0] < fc[0] - fw / 2,
+                mobject.get_bottom()[1] > fc[1] + fh / 2,
+                mobject.get_left()[0] > fc[0] + fw / 2,
+                mobject.get_top()[1] < fc[1] - fh / 2,
             ],
         )
 
diff --git a/manim/camera/moving_camera.py b/manim/camera/moving_camera.py
index f6e2784095..bc9ae1acc7 100644
--- a/manim/camera/moving_camera.py
+++ b/manim/camera/moving_camera.py
@@ -8,10 +8,9 @@
 
 __all__ = ["CameraFrame", "MovingCamera"]
 
-
 from .. import config
 from ..camera.camera import Camera
-from ..constants import ORIGIN
+from ..constants import DOWN, LEFT, ORIGIN, RIGHT, UP
 from ..mobject.frame import ScreenRectangle
 from ..mobject.types.vectorized_mobject import VGroup
 from ..utils.color import WHITE
@@ -173,3 +172,76 @@ def get_mobjects_indicating_movement(self):
         list
         """
         return [self.frame]
+
+    def auto_zoom(self, mobjects, margin=0, only_mobjects_in_frame=False):
+        """Zooms on to a given array of mobjects (or a singular mobject)
+        and automatically resizes to frame all the mobjects.
+
+        .. NOTE::
+
+            This method only works when 2D-objects in the XY-plane are considered, it
+            will not work correctly when the camera has been rotated.
+
+        Parameters
+        ----------
+        mobjects
+            The mobject or array of mobjects that the camera will focus on.
+
+        margin
+            The width of the margin that is added to the frame (optional, 0 by default).
+
+        only_mobjects_in_frame
+            If set to ``True``, only allows focusing on mobjects that are already in frame.
+
+        Returns
+        -------
+        _AnimationBuilder
+            Returns an animation that zooms the camera view to a given
+            list of mobjects.
+
+        """
+        scene_critical_x_left = None
+        scene_critical_x_right = None
+        scene_critical_y_up = None
+        scene_critical_y_down = None
+
+        for m in mobjects:
+            if (m == self.frame) or (
+                only_mobjects_in_frame and not self.is_in_frame(m)
+            ):
+                # detected camera frame, should not be used to calculate final position of camera
+                continue
+
+            # initialize scene critical points with first mobjects critical points
+            if scene_critical_x_left == None:
+                scene_critical_x_left = m.get_critical_point(LEFT)[0]
+                scene_critical_x_right = m.get_critical_point(RIGHT)[0]
+                scene_critical_y_up = m.get_critical_point(UP)[1]
+                scene_critical_y_down = m.get_critical_point(DOWN)[1]
+
+            else:
+                if m.get_critical_point(LEFT)[0] < scene_critical_x_left:
+                    scene_critical_x_left = m.get_critical_point(LEFT)[0]
+
+                if m.get_critical_point(RIGHT)[0] > scene_critical_x_right:
+                    scene_critical_x_right = m.get_critical_point(RIGHT)[0]
+
+                if m.get_critical_point(UP)[1] > scene_critical_y_up:
+                    scene_critical_y_up = m.get_critical_point(UP)[1]
+
+                if m.get_critical_point(DOWN)[1] < scene_critical_y_down:
+                    scene_critical_y_down = m.get_critical_point(DOWN)[1]
+
+        # calculate center x and y
+        x = (scene_critical_x_left + scene_critical_x_right) / 2
+        y = (scene_critical_y_up + scene_critical_y_down) / 2
+
+        # calculate proposed width and height of zoomed scene
+        new_width = abs(scene_critical_x_left - scene_critical_x_right)
+        new_height = abs(scene_critical_y_up - scene_critical_y_down)
+
+        # zoom to fit all mobjects along the side that has the largest size
+        if new_width / self.frame.width > new_height / self.frame.height:
+            return self.frame.animate.set_x(x).set_y(y).set(width=new_width + margin)
+        else:
+            return self.frame.animate.set_x(x).set_y(y).set(height=new_height + margin)
diff --git a/tests/test_auto_zoom.py b/tests/test_auto_zoom.py
new file mode 100644
index 0000000000..a8555ff096
--- /dev/null
+++ b/tests/test_auto_zoom.py
@@ -0,0 +1,23 @@
+from manim import *
+
+
+def test_zoom():
+
+    s1 = Square()
+    s1.set_x(-10)
+    s2 = Square()
+    s2.set_x(10)
+
+    with tempconfig({"dry_run": True, "quality": "low_quality"}):
+        scene = MovingCameraScene()
+        scene.add(s1, s2)
+        scene.play(scene.camera.auto_zoom([s1, s2]))
+
+    assert (
+        scene.camera.frame_width
+        == abs(
+            s1.get_left()[0] - s2.get_right()[0],
+        )
+        and scene.camera.frame.get_center()[0]
+        == (abs(s1.get_center()[0] + s2.get_center()[0]) / 2)
+    )