Yes, it is the same 2958cc engine as the Hilux 3VZ-E, but the Camry uses 'F' heads meaning "Economical Twin Cam" whereas the Hilux variant uses single cams.
Hilux: 3VZ-E
Camry: 3VZ-FE
Break down:
"3" = 3rd-generation and 2958cc
"VZ" = VZ Engine Block Family
"F" = Twin Cam with Steep-Angeled Valves for better Fuel Economy
"E" = Electronic Fuel Injection
BigMike