So researching this a bit, the short answer is, they use a diamond tipped tool pressed in to the surface at varying pressures and create a curve of the hardness compared to depth of the indentation left by the tool. Another method is to cut a cross section, an oblique taper, or a stepped cut of the part and observe. Different testing for different methods of hardening, case, surface, etc. The end result is there is no way to tell the depth of the heat treat on a cam without destroying it in the process. Seems to me a company that regrinds cams should be heat treating them after the fact.