You could compare the part numbers - or - you could compare the cams themselves.
There are two different cams listed for the Aerio (based on the MY) - 12711-62G00 (intake) and 12721-62G00 (exhaust) - for the second set, change the last five characters to 62G01 - this of course does not tell you what the differences are, but only that there is a difference.
The Vitara which I believe uses the same cams as the Tracker uses the first set of numbers above (the 62G00 ones.
Maybe comparing the cams themselves would be the better way to go - for a quick & dirty check grab a caliper and measure the height of a lobe, if they are the same then the cam is probably the same - note this would not be definitive as you are only looking at lift and completely ignoring the actual timings & duration.