The same thing just happened to me, and it took me a minute to figure it out. You get a camp follower
the skeleton/mummy guy from inside the ruins you find Shadowheart outside of
who will resurrect your companions for 200 gold each. To go to camp without resting (which it won't let you do if your party members are dead), open the map (M) and select "camp" on the right side. The guy who resurrects people can be found on the northern end of the camp, by the water. Sorry, I know it's been a while since you posted this, so I don't know if this will be helpful for you, but maybe it'll save someone else some confusion.