A thermal imaging camera may be used to capture a visible-light (VL) image and an infrared (IR) image. In some examples, the camera includes adjustable focus IR optics. For example, the camera may include a focus mechanism coupled to the IR optics and configured to move the IR optics to various focus positions so as to focus the IR optics. The various focus positions may include a hyperfocal position in which a scene is in focus between a set distance and infinity, and a plurality of focus positions in which the scene is in focus between the set distance and a minimum focus distance. Depending on the configuration of the camera, the IR optics of the camera may define an F-number greater than 1.0, and an axis of the IR optics may be offset from an axis of the VL optics by a distance less than 1.7 inches.