Lizards are ectotherm meaning their body temperature is controlled from outside. That's why you see them sitting in the sun for example.
In the article there is lots of speculation bout the function of said heat sensing features. There needs to be more research done for the question of why the feature developed and which selection factors it supported. Finding pray isn't the only useful thing, navigating to a cool place might also be a cause. Snake venom causes increased blood flow through the skin of the victim - which gives it a better heat signature, it also forces them to leave a trail of warm urine that the predator can track by smell (and/or heat sensing).