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The architecture guide goes through the various pieces of Camel.
Camel is based around a Java Domain Specific Language (DSL) to configure the routing and mediation you require.
The idea is you have Component instances which are either configured explicitly in an IoC container like Spring or Guice, or they can be auto-discovered using URIs. Then a Component is a factory of Endpoint instances. An individual Endpoint acts rather like a URI in a web application or a Destination in a JMS system; you can communicate with an endpoint.
Links
The following links are to the individual parts of the Architecture.
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