diff --git a/fov_estimator_node.py b/fov_estimator_node.py
index 8bbd9b4..3fb7e81 100644
--- a/fov_estimator_node.py
+++ b/fov_estimator_node.py
@@ -305,6 +305,10 @@ class FOVEstimatorNode:
         (x1, y1), (x2, y2) = line1
         (x3, y3), (x4, y4) = line2
 
+        # Convert to float to avoid integer overflow
+        x1, y1, x2, y2 = float(x1), float(y1), float(x2), float(y2)
+        x3, y3, x4, y4 = float(x3), float(y3), float(x4), float(y4)
+
         denom = (x1 - x2) * (y3 - y4) - (y1 - y2) * (x3 - x4)
 
         if abs(denom) < 1e-6:  # Lines are parallel