You can't tell from the helicopter shot. The wing ump is visible, but the primary ump would be directly behind Oracle (if they were positioned properly) and would be able to see the gap between the boats. If they saw contact, they would have called for a penalty.

These boats don't touch without leaving marks on each other. There's bound to be a photo / video of ETNZ's port quarter after the incident - I didn't notice anything watching the race.