Can we recover a file after that part of the memory was allocated to another file?

I have deleted some pictures from my SD card and taken some more to the extent that it is almost full now. I was wondering if it is possible if I still can recover something from the past?

No, that is not possible for overwritten data. Nevertheless, you might recover some of the data from areas that have not been overwritten yet.

Sources:

• Can Intelligence Agencies Read Overwritten Data?
• Secure deletion: a single overwrite will do it