Add rotatedrect detections for OD and bump rubik JNI (#2325)

## Description

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the "how") -->

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Pursuant to PhotonVision/rubik_jni#21 modify the neuralnetworkresult and related code to use a rotatedrect. This is scaffolding for implementing OBB -- overall this shouldn't change behavior of existing normal object detection models. This PR also bumps the rubik_jni version.

## Meta

Merge checklist:
- [x] Pull Request title is [short, imperative
summary](https://cbea.ms/git-commit/) of proposed changes
- [x] The description documents the _what_ and _why_
- [ ] If this PR changes behavior or adds a feature, user documentation
is updated
- [ ] If this PR touches photon-serde, all messages have been
regenerated and hashes have not changed unexpectedly
- [ ] If this PR touches configuration, this is backwards compatible
with settings back to v2025.3.2
- [ ] If this PR touches pipeline settings or anything related to data
exchange, the frontend typing is updated
- [ ] If this PR addresses a bug, a regression test for it is added

Co-authored-by: Matt Morley <matthew.morley.ca@gmail.com>

build.gradle

@@ -39,7 +39,7 @@ ext {
     javalinVersion = "6.7.0"
     libcameraDriverVersion = "v2026.0.0"
     rknnVersion = "v2026.0.1"
-    rubikVersion = "v2026.0.1"
+    rubikVersion = "dev-v2026.0.1-3-g977bb2e"
     frcYear = "2026"
     mrcalVersion = "v2026.0.0";
 

photon-core/src/main/java/org/photonvision/vision/objects/Letterbox.java

@@ -21,7 +21,8 @@ import java.util.ArrayList;
 import java.util.List;
 import org.opencv.core.Core;
 import org.opencv.core.Mat;
-import org.opencv.core.Rect2d;
+import org.opencv.core.Point;
+import org.opencv.core.RotatedRect;
 import org.opencv.core.Scalar;
 import org.opencv.core.Size;
 import org.opencv.imgproc.Imgproc;
@@ -86,21 +87,26 @@ public class Letterbox {
      * @return The resized detections
      */
     public List<NeuralNetworkPipeResult> resizeDetections(List<NeuralNetworkPipeResult> unscaled) {
-        var ret = new ArrayList<NeuralNetworkPipeResult>();
+        var ret = new ArrayList<NeuralNetworkPipeResult>(unscaled.size());
 
         for (var t : unscaled) {
             var scale = 1.0 / this.scale;
             var boundingBox = t.bbox();
-            double x = (boundingBox.x - this.dx) * scale;
-            double y = (boundingBox.y - this.dy) * scale;
-            double width = boundingBox.width * scale;
-            double height = boundingBox.height * scale;
+
+            double cx = (boundingBox.center.x - this.dx) * scale;
+            double cy = (boundingBox.center.y - this.dy) * scale;
+            double width = boundingBox.size.width * scale;
+            double height = boundingBox.size.height * scale;
+
+            Point center = new Point(cx, cy);
+            Size size = new Size(width, height);
+
+            // angle is unchanged from letterbox transformation
 
             ret.add(
                     new NeuralNetworkPipeResult(
-                            new Rect2d(x, y, width, height), t.classIdx(), t.confidence()));
+                            new RotatedRect(center, size, boundingBox.angle), t.classIdx(), t.confidence()));
         }
-
         return ret;
     }
 }

photon-core/src/main/java/org/photonvision/vision/objects/RubikObjectDetector.java

@@ -65,7 +65,9 @@ public class RubikObjectDetector implements ObjectDetector {
 
         // Create the detector
         try {
-            ptr = RubikJNI.create(model.modelFile.getPath().toString());
+            ptr =
+                    RubikJNI.create(
+                            model.modelFile.getPath().toString(), model.properties.version().ordinal());
         } catch (Exception e) {
             logger.error("Failed to create detector from path " + model.modelFile.getPath(), e);
             throw new RuntimeException(

photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java

@@ -57,6 +57,17 @@ public class Contour implements Releasable {
                         new Point(box.x, box.y + box.height));
     }
 
+    public Contour(RotatedRect obb) {
+        Point[] pts = new Point[4];
+        for (int i = 0; i < 4; ++i) pts[i] = new Point();
+
+        obb.points(pts);
+
+        // target: tl tr br bl
+        // pts array: "The order is bottomLeft, topLeft, topRight, bottomRight."
+        this.mat = new MatOfPoint(pts[1], pts[2], pts[3], pts[0]);
+    }
+
     public MatOfPoint2f getMat2f() {
         if (mat2f == null) {
             mat2f = new MatOfPoint2f(mat.toArray());

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FilterObjectDetectionsPipe.java

@@ -22,6 +22,7 @@ import java.util.List;
 import org.photonvision.common.util.numbers.DoubleCouple;
 import org.photonvision.vision.frame.FrameStaticProperties;
 import org.photonvision.vision.pipe.CVPipe;
+import org.photonvision.vision.target.TargetCalculations;
 
 public class FilterObjectDetectionsPipe
         extends CVPipe<
@@ -44,13 +45,13 @@ public class FilterObjectDetectionsPipe
         var boc = contour.bbox();
 
         // Area filtering
-        double areaPercentage = boc.area() / params.frameStaticProperties().imageArea * 100.0;
+        double areaPercentage = boc.size.area() / params.frameStaticProperties().imageArea * 100.0;
         double minAreaPercentage = params.area().getFirst();
         double maxAreaPercentage = params.area().getSecond();
         if (areaPercentage < minAreaPercentage || areaPercentage > maxAreaPercentage) return;
 
-        // Aspect ratio filtering; much simpler since always axis-aligned
-        double aspectRatio = boc.width / boc.height;
+        // Aspect ratio filtering
+        double aspectRatio = TargetCalculations.getAspectRatio(boc, params.isLandscape());
         if (aspectRatio < params.ratio().getFirst() || aspectRatio > params.ratio().getSecond()) return;
 
         m_filteredContours.add(contour);

photon-core/src/main/java/org/photonvision/vision/pipe/impl/NeuralNetworkPipeResult.java

@@ -17,6 +17,20 @@
 
 package org.photonvision.vision.pipe.impl;
 
+import org.opencv.core.Point;
 import org.opencv.core.Rect2d;
+import org.opencv.core.RotatedRect;
+import org.opencv.core.Size;
 
-public record NeuralNetworkPipeResult(Rect2d bbox, int classIdx, double confidence) {}
+public record NeuralNetworkPipeResult(RotatedRect bbox, int classIdx, double confidence) {
+    public NeuralNetworkPipeResult(Rect2d rect, int classIdx, double confidence) {
+        // turn the axis-aligned rect into a RotatedRect with angle 0 degrees
+        this(
+                new RotatedRect(
+                        new Point(rect.x + (rect.width) / 2, rect.y + (rect.height) / 2),
+                        new Size(rect.width, rect.height),
+                        0.0),
+                classIdx,
+                confidence);
+    }
+}