diff --git a/CMakeLists.txt b/CMakeLists.txt
index ea03974..d1ce393 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -122,6 +122,7 @@ if(BUILD_BENCHMARKS)
     src/benchmark/odometry_benchmark_fast_gicp.cpp
     src/benchmark/odometry_benchmark_fast_vgicp.cpp
     src/benchmark/odometry_benchmark_small_gicp.cpp
+    src/benchmark/odometry_benchmark_small_gicp_pcl.cpp
     src/benchmark/odometry_benchmark_small_gicp_omp.cpp
     src/benchmark/odometry_benchmark_small_vgicp_omp.cpp
     src/benchmark/odometry_benchmark_small_gicp_tbb.cpp
diff --git a/include/small_gicp/pcl/pcl_registration_impl.hpp b/include/small_gicp/pcl/pcl_registration_impl.hpp
index 54898ce..3d7d4e3 100644
--- a/include/small_gicp/pcl/pcl_registration_impl.hpp
+++ b/include/small_gicp/pcl/pcl_registration_impl.hpp
@@ -116,6 +116,8 @@ void RegistrationPCL<PointSource, PointTarget>::computeTransformation(PointCloud
   }
 
   Registration<GICPFactor, ParallelReductionOMP> registration;
+  registration.criteria.rotation_eps = rotation_epsilon_;
+  registration.criteria.translation_eps = transformation_epsilon_;
   registration.reduction.num_threads = num_threads_;
   registration.rejector.max_dist_sq = corr_dist_threshold_ * corr_dist_threshold_;
   registration.optimizer.verbose = verbose_;