We could debate whether or not the orcs deserved the camps for years, in fact we have been. But in my opinion they didn't really deserve to be there. Everything we've been told and shown on the camps has demonstrated that they were horrible places for the orcs, occasionally toture pits, and the prisoners were equated with unintelligent vermin, albeit dangerous enough to warrant the establishments of the camps (kind of ironic). It could also be argued that the orcs weren't entirely responsible for their actions but I don't want to get into that.
However, even if they didn't entirely deserve the camps, did the Azerothians have any other reasonable options? Not that I've ever been able to come up with.