D..
It might continue, but I doubt it. Look, she's had a fright and now you know that she has this "thing" with her bowels when she has a fright. But at some point, this turns into a bid for attention - "go to the bathroom with me because I'm scared, stay with me til I'm asleep because I'm scared". You can't give into this for long or it really WILL turn into a dependency issue.
I'd have her clean herself up alone the next time she poops. Just say to her, "Well, you need to clean yourself up." Go in the bathroom and show her how. It should require flushing the poo in the toilet, and THEN dipping her panties in the toilet and scrubbing the crotch out, rubbing the fabric against itself while dipping in and out of the toilet water. She will probably think it's gross. It IS gross. But there is no better incentive to her to stop pooping her pants than having to wash out her OWN underwear. Require this of her. Don't talk about her fear ANYMORE, and don't go to the bathroom with her.
At night time, you need to tell her that if she wants to go to sleep with the light on, that is fine, but you aren't staying with her anymore.
It's important to do this because she WILL see things that will scare her. You cannot prevent it. It doesn't even have to be scary. It can just be something that she DECIDES is scary. Everyone's "scare point" is different. You have to refrain from letting her think that you feel sorry for her or letting her know that you feel helpless. It will only further her feelings that she has something to be scared of.
It is good that she will go to summer camp. She will be made fun of if she poops in her pants, and most likely, it would only happen once, and then it wouldn't happen again...