diff --git a/frigate/ptz/onvif.py b/frigate/ptz/onvif.py
index 0277fa083..aa924ed70 100644
--- a/frigate/ptz/onvif.py
+++ b/frigate/ptz/onvif.py
@@ -33,6 +33,8 @@ class OnvifCommandEnum(str, Enum):
     stop = "stop"
     zoom_in = "zoom_in"
     zoom_out = "zoom_out"
+    focus_in = "focus_in"
+    focus_out = "focus_out"
 
 
 class OnvifController:
@@ -185,6 +187,16 @@ class OnvifController:
         ptz: ONVIFService = await onvif.create_ptz_service()
         self.cams[camera_name]["ptz"] = ptz
 
+        imaging: ONVIFService = await onvif.create_imaging_service()
+        self.cams[camera_name]["imaging"] = imaging
+        try:
+            video_sources = await media.GetVideoSources()
+            if video_sources and len(video_sources) > 0:
+                self.cams[camera_name]["video_source_token"] = video_sources[0].token
+        except (Fault, ONVIFError, TransportError, Exception) as e:
+            logger.debug(f"Unable to get video sources for {camera_name}: {e}")
+            self.cams[camera_name]["video_source_token"] = None
+
         # setup continuous moving request
         move_request = ptz.create_type("ContinuousMove")
         move_request.ProfileToken = profile.token
@@ -265,9 +277,15 @@ class OnvifController:
                             "RelativeZoomTranslationSpace"
                         ][zoom_space_id]["URI"]
                 else:
-                    if "Zoom" in move_request["Translation"]:
+                    if (
+                        move_request["Translation"] is not None
+                        and "Zoom" in move_request["Translation"]
+                    ):
                         del move_request["Translation"]["Zoom"]
-                    if "Zoom" in move_request["Speed"]:
+                    if (
+                        move_request["Speed"] is not None
+                        and "Zoom" in move_request["Speed"]
+                    ):
                         del move_request["Speed"]["Zoom"]
                     logger.debug(
                         f"{camera_name}: Relative move request after deleting zoom: {move_request}"
@@ -360,7 +378,19 @@ class OnvifController:
                             f"Disabling autotracking zooming for {camera_name}: Absolute zoom not supported. Exception: {e}"
                         )
 
-        # set relative pan/tilt space for autotracker
+        if self.cams[camera_name]["video_source_token"] is not None:
+            try:
+                imaging_capabilities = await imaging.GetImagingSettings(
+                    {"VideoSourceToken": self.cams[camera_name]["video_source_token"]}
+                )
+                if (
+                    hasattr(imaging_capabilities, "Focus")
+                    and imaging_capabilities.Focus
+                ):
+                    supported_features.append("focus")
+            except (Fault, ONVIFError, TransportError, Exception) as e:
+                logger.debug(f"Focus not supported for {camera_name}: {e}")
+
         if (
             self.config.cameras[camera_name].onvif.autotracking.enabled_in_config
             and self.config.cameras[camera_name].onvif.autotracking.enabled
@@ -385,6 +415,18 @@ class OnvifController:
                 "Zoom": True,
             }
         )
+        if (
+            "focus" in self.cams[camera_name]["features"]
+            and self.cams[camera_name]["video_source_token"]
+        ):
+            try:
+                stop_request = self.cams[camera_name]["imaging"].create_type("Stop")
+                stop_request.VideoSourceToken = self.cams[camera_name][
+                    "video_source_token"
+                ]
+                await self.cams[camera_name]["imaging"].Stop(stop_request)
+            except (Fault, ONVIFError, TransportError, Exception) as e:
+                logger.warning(f"Failed to stop focus for {camera_name}: {e}")
         self.cams[camera_name]["active"] = False
 
     async def _move(self, camera_name: str, command: OnvifCommandEnum) -> None:
@@ -593,6 +635,35 @@ class OnvifController:
 
         self.cams[camera_name]["active"] = False
 
+    async def _focus(self, camera_name: str, command: OnvifCommandEnum) -> None:
+        if self.cams[camera_name]["active"]:
+            logger.warning(
+                f"{camera_name} is already performing an action, not moving..."
+            )
+            await self._stop(camera_name)
+
+        if (
+            "focus" not in self.cams[camera_name]["features"]
+            or not self.cams[camera_name]["video_source_token"]
+        ):
+            logger.error(f"{camera_name} does not support ONVIF continuous focus.")
+            return
+
+        self.cams[camera_name]["active"] = True
+        move_request = self.cams[camera_name]["imaging"].create_type("Move")
+        move_request.VideoSourceToken = self.cams[camera_name]["video_source_token"]
+        move_request.Focus = {
+            "Continuous": {
+                "Speed": 0.5 if command == OnvifCommandEnum.focus_in else -0.5
+            }
+        }
+
+        try:
+            await self.cams[camera_name]["imaging"].Move(move_request)
+        except (Fault, ONVIFError, TransportError, Exception) as e:
+            logger.warning(f"Onvif sending focus request to {camera_name} failed: {e}")
+            self.cams[camera_name]["active"] = False
+
     async def handle_command_async(
         self, camera_name: str, command: OnvifCommandEnum, param: str = ""
     ) -> None:
@@ -616,11 +687,10 @@ class OnvifController:
             elif command == OnvifCommandEnum.move_relative:
                 _, pan, tilt = param.split("_")
                 await self._move_relative(camera_name, float(pan), float(tilt), 0, 1)
-            elif (
-                command == OnvifCommandEnum.zoom_in
-                or command == OnvifCommandEnum.zoom_out
-            ):
+            elif command in (OnvifCommandEnum.zoom_in, OnvifCommandEnum.zoom_out):
                 await self._zoom(camera_name, command)
+            elif command in (OnvifCommandEnum.focus_in, OnvifCommandEnum.focus_out):
+                await self._focus(camera_name, command)
             else:
                 await self._move(camera_name, command)
         except (Fault, ONVIFError, TransportError, Exception) as e:
@@ -631,7 +701,6 @@ class OnvifController:
     ) -> None:
         """
         Handle ONVIF commands by scheduling them in the event loop.
-        This is the synchronous interface that schedules async work.
         """
         future = asyncio.run_coroutine_threadsafe(
             self.handle_command_async(camera_name, command, param), self.loop