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If some of your pictures are slightly out of focus it could be that you didn't have the camera set for AF-S (Single -Servo Autofocus) and not CF-A (Continuous-Servo Autofocus) or manual focus. The AF-S prevents the camera from shooting unless the focus is locked in. Obviously you'd have to be using an autofocus lens and the active focus area would have to be centered over what you have determined to be the critical are of focus. Also be careful the AF-area Mode isn't set to closest subject.
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