ViewController_willRenderScene.swift

func renderer(_ renderer: SCNSceneRenderer, willRenderScene scene: SCNScene, atTime time: TimeInterval) {
    // Get the capture image (which is a cvPixelBuffer) from the current ARFrame
    guard let capturedImage = sceneView.session.currentFrame?.capturedImage else { return }
    
    let imageRequestHandler = VNImageRequestHandler(cvPixelBuffer: capturedImage, 
                                                    orientation: .leftMirrored, 
                                                    options: [:])
    
    do {
        try imageRequestHandler.perform([objectDetectionRequest])
    } catch {
        print("Failed to perform image request.")
    }
}