My iPhone 5 camera zoom is horribly blurry

Every time I try to zoom in to take a photo it becomes to blurry I can't even tell what I just took a photo of. Is this a hardware issue? If so, if I take it to an apple store will they give me a new device? If it isn't a hardware issue is there a way to fix this? Also, on occasion my pictures come out blurry or foggy when not zoomed in. I've tried cleaning the lens and taking off my otterbox with no luck. This also happens with videos. Any suggestions?