Which version of the code do you have? I cannot find the revision with <zed/Camera.cpp>, it should be <zed/Camera.hpp>. However with latest zed versions, it should be even <sl/Camera.hpp>. Update the code.
I was trying to install rtabmap 0.14 as well. I am installing CUDA 8, then ZED SDK 2.2.0 and rtabmap 14 version. I get a compilation error.
I tried modifying to .hpp as well. The same compilation error.