1. A method for imager focusing based on intraoperative data, implemented on one or more computing devices, comprising: determining pose information for a focusable imager used in a medical scene; determining pose information for at least one object of interest in the medical scene; determining, using the one or more computing devices, a focal adjustment for the focusable imager based on the pose information for the at least one object of interest and the pose information for the imager; and generating data to be sent to the focusable imager to adjust the focus of the focal imager based on the determined focal adjustment for the focusable imager.