Tracking an infrared using an IR camera

[TissueKing]

I am currently using a Raspberry Pi 3, and a DFRobot Position IR Camera. I am using Python 2.7.16. I am trying to get the camera to read and print out coordinate information of IR lights. Below is the Error Message I am receiving, along with my code. Any help would be appreciated.

SeniorDesign_Test.py
Traceback (most recent call last):
File "SeniorDesign_Test.py", line 7, in
camera = pyIRcam() # Sensor initialization
File "/home/pi/Desktop/SeniorDesign_IRcam.py", line 18, in init
self.device.write_byte_data(self.sensorAddress, i, j)
IOError: [Errno 121] Remote I/O error

Below is SeniorDesign_Test.py

from SeniorDesign_IRcam import pyIRcam
from time import sleep,time
from Tkinter import *

update_rate = 20 # 20ms update rate

camera = pyIRcam() # Sensor initialization

master = Tk()
w = Canvas(master, width = 1024, height =768) #IR Camera Dimensions
w.pack(fill = BOTH, expand = 1)

def update_Image():
camera.getPositions() #Update with new IR objects
w.delete(ALL)
if camera.positions['found']:
camera.findTarget()
if(camera.targetFound):
color = "blue"
else:
color ="red"
w.create_rectangle(camera.positions['1'][0], camera.positions['1'][1], camera.positions['1'][0] + 10, camera.positions['1'][1] + 10, fill = color)
w.create_rectangle(camera.positions['2'][0], camera.positions['2'][1], camera.positions['2'][0] + 10, camera.positions['2'][1] + 10, fill = color)
w.create_rectangle(camera.positions['3'][0], camera.positions['3'][1], camera.positions['3'][0] + 10, camera.positions['3'][1] + 10, fill = color)
w.create_rectangle(camera.positions['4'][0], camera.positions['4'][1], camera.positions['4'][0] + 10, camera.positions['4'][1] + 10, fill = color)

master.after(0, update_Image)
master.mainloop()

Below is SeniorDesign_IRCam.py

import smbus
import math
from time import sleep
bus = smbus.SMBus(1)
degPerPixel = 0.0299947917
ledDistance = 1.3 #In Inches

class pyIRcam:

def __init__(self):
    self.sensorAddress = 0x58 # address of camera
    self.device = smbus.SMBus(1)
    self.positions = {'found':False,'1':[0,0],'2':[0,0],'3':[0,0],'4':[0,0]}
    # Initialization of the IR sensor
    self.initCMDs = [0x30, 0x01, 0x30, 0x08, 0x06, 0x90, 0x08, 0xC0, 0x1A, 0x40, 0x33, 0x33]

    for i,j in zip(self.initCMDs[0::2], self.initCMDs[1::2]):
        self.device.write_byte_data(self.sensorAddress, i, j)
        sleep(0.01)

def getPositions(self):
    self.device.write_byte(self.sensorAddress, 0x36)
    data = self.device.read_i2c_block_data(self.sensorAddress, 0x36, 16) # Read the data from the I2C bus
    x = [0x00]*4
    y = [0x00]*4
    i=0

    for j in xrange(1,11,3): # Decode the data coming from the I2C bus
        x[i]=data[j]+((data[j+2] & 0x30) << 4)
        y[i]=data[j+1]+((data[j+2] & 0xC0) << 2)
        i+=1
        i=0

    for j in ('1','2','3','4'): # Put the x and y positions into the dictionary
        self.positions[j][0]=x[i]
        self.positions[j][1]=y[i]
        i+=1

    if ( all(i == 1023 for i in x) and all(i == 1023 for i in y) ): # If all objects are 1023, then there is no IR object in front of the sensor
        self.positions['found'] = False

    else:
            self.positions['found'] = True

def getDistance(self):
    #getting minimum distance
    distance12 = math.sqrt((self.positions['1'][0] - self.positions ['2'][0]) ** 2 + (self.positions['1'][1] - self.positions['2'][1]) ** 2)
    distance23 = math.sqrt((self.positions['2'][0] - self.positions ['3'][0]) ** 2 + (self.positions['2'][1] - self.positions['3'][1]) ** 2)
    distance13 = math.sqrt((self.positions['1'][0] - self.positions ['3'][0]) ** 2 + (self.positions['1'][1] - self.positions['3'][1]) ** 2)
    distance = min(distance12, distance23, distance13)
    theta = distance * degPerPixel
    phi = 90 - theta / 2
    d = (ledDistance / 2.0) * math.tan (phi * math.pi / 180.0)
    print d