Given the information we currently have access to, no we don't know exactly what the Camrose system looks like, although we can infer.
We know what the Camrose test vehicles derived from the 18-inch diameter Bootleg look like, and the proposed dimensions and performance of the final Camrose weapon from the below article on rocket torpedoes (a 120-inch long, 15-inch diameter weapon weighing 725lbs, capable of 35 knots out to a range of 1150 yards at a depth of 50ft).
The associated Type 176 sonar actually entered service for a brief period, with transducer being fitted on the shaft of sonar Types 170 and 177 (at least according to Willem Hackmann's Seek & Strike) and therefore would have shared the same retractable 100-inch A/S No.26, 38 and 68 domes for Type 170, or retractable 175 1/4-inch A/S No.34, 37 and 43 domes for Type 177.
We don't know exactly what the Camrose tubes would look like, I would imagine they would look like smaller copies of the tubes used for Mk20 Bidder fitted to early Type 12 and Type 15 Frigates, with a 15-inch internal diameter instead of 21-inches. The question is whether they would be fixed or trainable, the above documents specify whether full sized 21-inch torpedo are trainable or fixed, whereas they refer to Camrose as being in "triple tube sets" or "12 tube units", which would imply that they were fixed.