I have, that's why I suggested warming it up. The change in temperature won't affect the digital cameras so much, it's more the camcorders. I think because the cameras are more or less sealed where a camcorder has some kind of door to load the media. When you get condensation, the viewfinder will show an icon that looks like a raindrop and it will turn itself off until it dries out inside. Preheating the device a little bit will mean you can use it immediately when you get outside vs waiting for it to warm up. On my first cruise that I brought it on, I wound up going back to the cabin, opening the tape door and blowing the hairdryer in there to dry it out. Subsequesnt trips a bit of preheating avoided the issue altogether.
Now, this is only an issue when the camcorder has been sitting a long time, such as overnight, in your cabin. Just going from inside to outside over a short period won't do much of anything. I would also say it is probably going to be more of an issue for larger than your hand camcorders. Something you can stick in your pocket/fanny pack or is the size of your hand, such as most of the mini-dv's, you are warming it up that way and probably won't be affected. Mine's a hi-8 format DV Sony, comparable in size to the new DVD camcorders.