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I bought a D3100 for my first DSLR. I'm still trying to learn the ins and out of photography before I step into something better. I've seen shots here from the D5100 and the shots look great. I read that the sensor is the same sensor as in the D7000. If I had to pick a beginner DSLR now, it would be between the Nikon D5100 and the Canon T3i.
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