Deleting the icon wouldn't uninstall the application. The icon may not have been deleted either. Check and make sure it wasn't combined with another icon. It happens a lot. If it was, then when you tap the combined icons it will show both. "Tap", "Hold" and "Drag" the "Camera" icon off the combined area and to the home screen. They should be separated now.
If you actually did delete the icon from the screen, then all you should need to do, to get it back, is "Tap" and "Hold" any of the background of your screen. Be sure you aren't touching any icons. This should bring up a screen that will allow you to access the app icons on the device as well as other options like wallpapers, etc. You should find the icon you need in there.