Bear Canyon camp doesn't show on some trail maps.
Everything is adequately signed from Switzer...Assuming when you say starting from Switzer Falls you mean the Switzer picnic area/parking lot.
Head downstream from Switzer, up a marked trail to the right to get up and over the falls. You'll hit a high trail junction. Heading down takes you to Bear Canyon, heading straight takes you to the lower Arroyo. Everything has trail signs. Once down the hill, you hit another trail junction. Left is to the bottom of the falls, right/straight to Bear Canyon. Once in Bear Canyon, continue to Bear Canyon camp...the camp is pretty much in between the Tom Sloan saddle and the trail junction for Bear/Switzer Falls, maybe 2 miles in.