Adds a FileWriter abstraction (#182)

cartographer/io/file_writer.cc

@@ -0,0 +1,53 @@
+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cartographer/io/file_writer.h"
+
+namespace cartographer {
+namespace io {
+
+StreamFileWriter::StreamFileWriter(const string& filename)
+    : out_(filename, std::ios::out | std::ios::binary) {}
+
+StreamFileWriter::~StreamFileWriter() {}
+
+bool StreamFileWriter::Write(const char* const data, const size_t len) {
+  if (out_.bad()) {
+    return false;
+  }
+  out_.write(data, len);
+  return !out_.bad();
+}
+
+bool StreamFileWriter::Close() {
+  if (out_.bad()) {
+    return false;
+  }
+  out_.close();
+  return !out_.bad();
+}
+
+bool StreamFileWriter::WriteHeader(const char* const data, const size_t len) {
+  if (out_.bad()) {
+    return false;
+  }
+  out_.flush();
+  out_.seekp(0);
+  return Write(data, len);
+}
+
+}  // namespace io
+}  // namespace cartographer

cartographer/io/file_writer.h

@@ -0,0 +1,68 @@
+/*
+ * Copyright 2016 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef CARTOGRAPHER_IO_FILE_WRITER_H_
+#define CARTOGRAPHER_IO_FILE_WRITER_H_
+
+#include <fstream>
+#include <functional>
+#include <memory>
+
+#include "cartographer/common/port.h"
+
+namespace cartographer {
+namespace io {
+
+// Simple abstraction for a file.
+class FileWriter {
+ public:
+  FileWriter() {}
+  FileWriter(const FileWriter&) = delete;
+  FileWriter& operator=(const FileWriter&) = delete;
+
+  virtual ~FileWriter() {}
+
+  // Write 'data' to the beginning of the file. This is required to overwrite
+  // fixed size headers which contain the number of points once we actually know
+  // how many points there are.
+  virtual bool WriteHeader(const char* data, size_t len) = 0;
+
+  virtual bool Write(const char* data, size_t len) = 0;
+  virtual bool Close() = 0;
+};
+
+// An Implementation of file using std::ofstream.
+class StreamFileWriter : public FileWriter {
+ public:
+  virtual ~StreamFileWriter() override;
+
+  StreamFileWriter(const string& filename);
+
+  bool Write(const char* data, size_t len) override;
+  bool WriteHeader(const char* data, size_t len) override;
+  bool Close() override;
+
+ private:
+  std::ofstream out_;
+};
+
+using FileWriterFactory =
+    std::function<std::unique_ptr<FileWriter>(const string& filename)>;
+
+}  // namespace io
+}  // namespace cartographer
+
+#endif  // CARTOGRAPHER_IO_FILE_WRITER_H_

cartographer/io/pcd_writing_points_processor.cc

@@ -17,6 +17,8 @@
 #include "cartographer/io/pcd_writing_points_processor.h"
 
 #include <iomanip>
+#include <sstream>
+#include <string>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/make_unique.h"
@@ -31,69 +33,69 @@ namespace {
 // Writes the PCD header claiming 'num_points' will follow it into
 // 'output_file'.
 void WriteBinaryPcdHeader(const bool has_color, const int64 num_points,
-                          std::ofstream* const stream) {
+                          FileWriter* const file_writer) {
   string color_header_field = !has_color ? "" : " rgb";
   string color_header_type = !has_color ? "" : " U";
   string color_header_size = !has_color ? "" : " 4";
   string color_header_count = !has_color ? "" : " 1";
 
-  (*stream) << "# generated by Cartographer\n"
+  std::ostringstream stream;
-            << "VERSION .7\n"
+  stream << "# generated by Cartographer\n"
-            << "FIELDS x y z" << color_header_field << "\n"
+         << "VERSION .7\n"
-            << "SIZE 4 4 4" << color_header_size << "\n"
+         << "FIELDS x y z" << color_header_field << "\n"
-            << "TYPE F F F" << color_header_type << "\n"
+         << "SIZE 4 4 4" << color_header_size << "\n"
-            << "COUNT 1 1 1" << color_header_count << "\n"
+         << "TYPE F F F" << color_header_type << "\n"
-            << "WIDTH " << std::setw(15) << std::setfill('0') << num_points
+         << "COUNT 1 1 1" << color_header_count << "\n"
-            << "\n"
+         << "WIDTH " << std::setw(15) << std::setfill('0') << num_points << "\n"
-            << "HEIGHT 1\n"
+         << "HEIGHT 1\n"
-            << "VIEWPOINT 0 0 0 1 0 0 0\n"
+         << "VIEWPOINT 0 0 0 1 0 0 0\n"
-            << "POINTS " << std::setw(15) << std::setfill('0') << num_points
+         << "POINTS " << std::setw(15) << std::setfill('0') << num_points
-            << "\n"
+         << "\n"
-            << "DATA binary\n";
+         << "DATA binary\n";
+  const string out = stream.str();
+  file_writer->WriteHeader(out.data(), out.size());
 }
 
 void WriteBinaryPcdPointCoordinate(const Eigen::Vector3f& point,
-                                   std::ofstream* const stream) {
+                                   FileWriter* const file_writer) {
   char buffer[12];
   memcpy(buffer, &point[0], sizeof(float));
   memcpy(buffer + 4, &point[1], sizeof(float));
   memcpy(buffer + 8, &point[2], sizeof(float));
-  for (int i = 0; i < 12; ++i) {
+  CHECK(file_writer->Write(buffer, 12));
-    stream->put(buffer[i]);
-  }
 }
 
-void WriteBinaryPcdPointColor(const Color& color, std::ostream* const stream) {
+void WriteBinaryPcdPointColor(const Color& color,
-  // Pack the color as uint32 little-endian
+                              FileWriter* const file_writer) {
-  stream->put(color[2]);
+  char buffer[4];
-  stream->put(color[1]);
+  buffer[0] = color[2];
-  stream->put(color[0]);
+  buffer[1] = color[1];
-  stream->put(0);
+  buffer[2] = color[0];
+  buffer[3] = 0;
+  CHECK(file_writer->Write(buffer, 4));
 }
 
 }  // namespace
 
 std::unique_ptr<PcdWritingPointsProcessor>
 PcdWritingPointsProcessor::FromDictionary(
+    const FileWriterFactory& file_writer_factory,
     common::LuaParameterDictionary* const dictionary,
     PointsProcessor* const next) {
   return common::make_unique<PcdWritingPointsProcessor>(
-      dictionary->GetString("filename"), next);
+      file_writer_factory(dictionary->GetString("filename")), next);
 }
 
 PcdWritingPointsProcessor::PcdWritingPointsProcessor(
-    const string& filename, PointsProcessor* const next)
+    std::unique_ptr<FileWriter> file_writer, PointsProcessor* const next)
     : next_(next),
       num_points_(0),
       has_colors_(false),
-      file_(filename, std::ios_base::out | std::ios_base::binary) {}
+      file_writer_(std::move(file_writer)) {}
 
 PointsProcessor::FlushResult PcdWritingPointsProcessor::Flush() {
-  file_.flush();
+  WriteBinaryPcdHeader(has_colors_, num_points_, file_writer_.get());
-  file_.seekp(0);
+  CHECK(file_writer_->Close());
-
-  WriteBinaryPcdHeader(has_colors_, num_points_, &file_);
-  file_.flush();
 
   switch (next_->Flush()) {
     case FlushResult::kFinished:
@@ -114,12 +116,12 @@ void PcdWritingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
 
   if (num_points_ == 0) {
     has_colors_ = !batch->colors.empty();
-    WriteBinaryPcdHeader(has_colors_, 0, &file_);
+    WriteBinaryPcdHeader(has_colors_, 0, file_writer_.get());
   }
   for (size_t i = 0; i < batch->points.size(); ++i) {
-    WriteBinaryPcdPointCoordinate(batch->points[i], &file_);
+    WriteBinaryPcdPointCoordinate(batch->points[i], file_writer_.get());
     if (!batch->colors.empty()) {
-      WriteBinaryPcdPointColor(batch->colors[i], &file_);
+      WriteBinaryPcdPointColor(batch->colors[i], file_writer_.get());
     }
     ++num_points_;
   }

cartographer/io/pcd_writing_points_processor.h

@@ -17,6 +17,7 @@
 #include <fstream>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
 
 namespace cartographer {
@@ -26,9 +27,11 @@ namespace io {
 class PcdWritingPointsProcessor : public PointsProcessor {
  public:
   constexpr static const char* kConfigurationFileActionName = "write_pcd";
-  PcdWritingPointsProcessor(const string& filename, PointsProcessor* next);
+  PcdWritingPointsProcessor(std::unique_ptr<FileWriter> file_writer,
+                            PointsProcessor* next);
 
   static std::unique_ptr<PcdWritingPointsProcessor> FromDictionary(
+      const FileWriterFactory& file_writer_factory,
       common::LuaParameterDictionary* dictionary, PointsProcessor* next);
 
   ~PcdWritingPointsProcessor() override {}
@@ -45,7 +48,7 @@ class PcdWritingPointsProcessor : public PointsProcessor {
 
   int64 num_points_;
   bool has_colors_;
-  std::ofstream file_;
+  std::unique_ptr<FileWriter> file_writer_;
 };
 
 }  // namespace io

cartographer/io/ply_writing_points_processor.cc

@@ -17,6 +17,8 @@
 #include "cartographer/io/ply_writing_points_processor.h"
 
 #include <iomanip>
+#include <sstream>
+#include <string>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/make_unique.h"
@@ -31,63 +33,60 @@ namespace {
 // Writes the PLY header claiming 'num_points' will follow it into
 // 'output_file'.
 void WriteBinaryPlyHeader(const bool has_color, const int64 num_points,
-                          std::ofstream* const stream) {
+                          FileWriter* const file_writer) {
   string color_header = !has_color ? "" : "property uchar red\n"
                                           "property uchar green\n"
                                           "property uchar blue\n";
-
+  std::ostringstream stream;
-  (*stream) << "ply\n"
+  stream << "ply\n"
-            << "format binary_little_endian 1.0\n"
+         << "format binary_little_endian 1.0\n"
-            << "comment generated by Cartographer\n"
+         << "comment generated by Cartographer\n"
-            << "element vertex " << std::setw(15) << std::setfill('0')
+         << "element vertex " << std::setw(15) << std::setfill('0')
-            << num_points << "\n"
+         << num_points << "\n"
-            << "property float x\n"
+         << "property float x\n"
-            << "property float y\n"
+         << "property float y\n"
-            << "property float z\n"
+         << "property float z\n"
-            << color_header << "end_header\n";
+         << color_header << "end_header\n";
+  const string out = stream.str();
+  CHECK(file_writer->WriteHeader(out.data(), out.size()));
 }
 
 void WriteBinaryPlyPointCoordinate(const Eigen::Vector3f& point,
-                                   std::ofstream* const stream) {
+                                   FileWriter* const file_writer) {
   char buffer[12];
   memcpy(buffer, &point[0], sizeof(float));
   memcpy(buffer + 4, &point[1], sizeof(float));
   memcpy(buffer + 8, &point[2], sizeof(float));
-  for (int i = 0; i < 12; ++i) {
+  CHECK(file_writer->Write(buffer, 12));
-    stream->put(buffer[i]);
-  }
 }
 
-void WriteBinaryPlyPointColor(const Color& color, std::ostream* const stream) {
+void WriteBinaryPlyPointColor(const Color& color,
-  stream->put(color[0]);
+                              FileWriter* const file_writer) {
-  stream->put(color[1]);
+  CHECK(file_writer->Write(reinterpret_cast<const char*>(color.data()),
-  stream->put(color[2]);
+                           color.size()));
 }
 
 }  // namespace
 
 std::unique_ptr<PlyWritingPointsProcessor>
 PlyWritingPointsProcessor::FromDictionary(
+    const FileWriterFactory& file_writer_factory,
     common::LuaParameterDictionary* const dictionary,
     PointsProcessor* const next) {
   return common::make_unique<PlyWritingPointsProcessor>(
-      dictionary->GetString("filename"), next);
+      file_writer_factory(dictionary->GetString("filename")), next);
 }
 
 PlyWritingPointsProcessor::PlyWritingPointsProcessor(
-    const string& filename, PointsProcessor* const next)
+    std::unique_ptr<FileWriter> file_writer, PointsProcessor* const next)
     : next_(next),
       num_points_(0),
       has_colors_(false),
-      file_(filename, std::ios_base::out | std::ios_base::binary) {}
+      file_(std::move(file_writer)) {}
 
 PointsProcessor::FlushResult PlyWritingPointsProcessor::Flush() {
-  file_.flush();
+  WriteBinaryPlyHeader(has_colors_, num_points_, file_.get());
-  file_.seekp(0);
+  CHECK(file_->Close()) << "Closing PLY file_writer failed.";
-
-  WriteBinaryPlyHeader(has_colors_, num_points_, &file_);
-  file_.close();
-  CHECK(file_) << "Writing PLY file failed.";
 
   switch (next_->Flush()) {
     case FlushResult::kFinished:
@@ -108,12 +107,12 @@ void PlyWritingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
 
   if (num_points_ == 0) {
     has_colors_ = !batch->colors.empty();
-    WriteBinaryPlyHeader(has_colors_, 0, &file_);
+    WriteBinaryPlyHeader(has_colors_, 0, file_.get());
   }
   for (size_t i = 0; i < batch->points.size(); ++i) {
-    WriteBinaryPlyPointCoordinate(batch->points[i], &file_);
+    WriteBinaryPlyPointCoordinate(batch->points[i], file_.get());
     if (!batch->colors.empty()) {
-      WriteBinaryPlyPointColor(batch->colors[i], &file_);
+      WriteBinaryPlyPointColor(batch->colors[i], file_.get());
     }
     ++num_points_;
   }

cartographer/io/ply_writing_points_processor.h

@@ -14,9 +14,8 @@
  * limitations under the License.
  */
 
-#include <fstream>
-
 #include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
 
 namespace cartographer {
@@ -26,9 +25,11 @@ namespace io {
 class PlyWritingPointsProcessor : public PointsProcessor {
  public:
   constexpr static const char* kConfigurationFileActionName = "write_ply";
-  PlyWritingPointsProcessor(const string& filename, PointsProcessor* next);
+  PlyWritingPointsProcessor(std::unique_ptr<FileWriter> file,
+                            PointsProcessor* next);
 
   static std::unique_ptr<PlyWritingPointsProcessor> FromDictionary(
+      const FileWriterFactory& file_writer_factory,
       common::LuaParameterDictionary* dictionary, PointsProcessor* next);
 
   ~PlyWritingPointsProcessor() override {}
@@ -45,7 +46,7 @@ class PlyWritingPointsProcessor : public PointsProcessor {
 
   int64 num_points_;
   bool has_colors_;
-  std::ofstream file_;
+  std::unique_ptr<FileWriter> file_;
 };
 
 }  // namespace io

cartographer/io/points_processor_pipeline_builder.cc

@@ -42,31 +42,50 @@ void RegisterPlainPointsProcessor(
       });
 }
 
+template <typename PointsProcessorType>
+void RegisterFileWritingPointsProcessor(
+    const FileWriterFactory& file_writer_factory,
+    PointsProcessorPipelineBuilder* const builder) {
+  builder->Register(
+      PointsProcessorType::kConfigurationFileActionName,
+      [&file_writer_factory](
+          common::LuaParameterDictionary* const dictionary,
+          PointsProcessor* const next) -> std::unique_ptr<PointsProcessor> {
+        return PointsProcessorType::FromDictionary(file_writer_factory,
+                                                   dictionary, next);
+      });
+}
+
 void RegisterBuiltInPointsProcessors(
     const mapping::proto::Trajectory& trajectory,
+    const FileWriterFactory& file_writer_factory,
     PointsProcessorPipelineBuilder* builder) {
   RegisterPlainPointsProcessor<CountingPointsProcessor>(builder);
   RegisterPlainPointsProcessor<FixedRatioSamplingPointsProcessor>(builder);
   RegisterPlainPointsProcessor<MinMaxRangeFiteringPointsProcessor>(builder);
   RegisterPlainPointsProcessor<OutlierRemovingPointsProcessor>(builder);
-  RegisterPlainPointsProcessor<PcdWritingPointsProcessor>(builder);
+  RegisterFileWritingPointsProcessor<PcdWritingPointsProcessor>(
-  RegisterPlainPointsProcessor<PlyWritingPointsProcessor>(builder);
+      file_writer_factory, builder);
-  RegisterPlainPointsProcessor<XyzWriterPointsProcessor>(builder);
+  RegisterFileWritingPointsProcessor<PlyWritingPointsProcessor>(
+      file_writer_factory, builder);
+  RegisterFileWritingPointsProcessor<XyzWriterPointsProcessor>(
+      file_writer_factory, builder);
 
+  // X-Ray is an odd ball since it requires the trajectory to figure out the
+  // different building levels we walked on to separate the images.
   builder->Register(
       XRayPointsProcessor::kConfigurationFileActionName,
-      [&trajectory](
+      [&trajectory, &file_writer_factory](
           common::LuaParameterDictionary* const dictionary,
           PointsProcessor* const next) -> std::unique_ptr<PointsProcessor> {
-        return XRayPointsProcessor::FromDictionary(trajectory, dictionary,
+        return XRayPointsProcessor::FromDictionary(
-                                                   next);
+            trajectory, file_writer_factory, dictionary, next);
       });
 }
 
 void PointsProcessorPipelineBuilder::Register(const std::string& name,
                                               FactoryFunction factory) {
-  CHECK(factories_.count(name) == 0) << "A points processor with named '"
+  CHECK(factories_.count(name) == 0) << "A points processor named '" << name
-                                     << name
                                      << "' has already been registered.";
   factories_[name] = factory;
 }

cartographer/io/points_processor_pipeline_builder.h

@@ -22,6 +22,7 @@
 #include <vector>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
 #include "cartographer/mapping/proto/trajectory.pb.h"
 
@@ -61,6 +62,7 @@ class PointsProcessorPipelineBuilder {
 // 'builder'.
 void RegisterBuiltInPointsProcessors(
     const mapping::proto::Trajectory& trajectory,
+    const FileWriterFactory& file_writer_factory,
     PointsProcessorPipelineBuilder* builder);
 
 }  // namespace io

cartographer/io/xray_points_processor.cc

@@ -48,8 +48,18 @@ void TakeLogarithm(Eigen::MatrixXf* mat) {
   }
 }
 
+cairo_status_t CairoWriteCallback(void* const closure,
+                                  const unsigned char* data,
+                                  const unsigned int length) {
+  if (static_cast<FileWriter*>(closure)->Write(
+          reinterpret_cast<const char*>(data), length)) {
+    return CAIRO_STATUS_SUCCESS;
+  }
+  return CAIRO_STATUS_WRITE_ERROR;
+}
+
 // Write 'mat' as a pleasing-to-look-at PNG into 'filename'
-void WritePng(const string& filename, const Eigen::MatrixXf& mat) {
+void WritePng(const Eigen::MatrixXf& mat, FileWriter* const file_writer) {
   const int stride =
       cairo_format_stride_for_width(CAIRO_FORMAT_ARGB32, mat.cols());
   CHECK_EQ(stride % 4, 0);
@@ -76,11 +86,13 @@ void WritePng(const string& filename, const Eigen::MatrixXf& mat) {
           mat.cols(), mat.rows(), stride),
       cairo_surface_destroy);
   CHECK_EQ(cairo_surface_status(surface.get()), CAIRO_STATUS_SUCCESS);
-  CHECK_EQ(cairo_surface_write_to_png(surface.get(), filename.c_str()),
+  CHECK_EQ(cairo_surface_write_to_png_stream(surface.get(), &CairoWriteCallback,
+                                             file_writer),
            CAIRO_STATUS_SUCCESS);
+  CHECK(file_writer->Close());
 }
 
-void WriteVoxels(const string& filename, const Voxels& voxels) {
+void WriteVoxels(const Voxels& voxels, FileWriter* const file_writer) {
   Eigen::Array3i min(std::numeric_limits<int>::max(),
                      std::numeric_limits<int>::max(),
                      std::numeric_limits<int>::max());
@@ -111,7 +123,7 @@ void WriteVoxels(const string& filename, const Voxels& voxels) {
     ++image(pixel.y(), pixel.x());
   }
   TakeLogarithm(&image);
-  WritePng(filename, image);
+  WritePng(image, file_writer);
 }
 
 bool ContainedIn(
@@ -138,8 +150,9 @@ void Insert(const PointsBatch& batch, const transform::Rigid3f& transform,
 XRayPointsProcessor::XRayPointsProcessor(
     const double voxel_size, const transform::Rigid3f& transform,
     const std::vector<mapping::Floor>& floors, const string& output_filename,
-    PointsProcessor* next)
+    const FileWriterFactory& file_writer_factory, PointsProcessor* const next)
     : next_(next),
+      file_writer_factory_(file_writer_factory),
       floors_(floors),
       output_filename_(output_filename),
       transform_(transform) {
@@ -150,7 +163,9 @@ XRayPointsProcessor::XRayPointsProcessor(
 
 std::unique_ptr<XRayPointsProcessor> XRayPointsProcessor::FromDictionary(
     const mapping::proto::Trajectory& trajectory,
-    common::LuaParameterDictionary* dictionary, PointsProcessor* next) {
+    const FileWriterFactory& file_writer_factory,
+    common::LuaParameterDictionary* const dictionary,
+    PointsProcessor* const next) {
   std::vector<mapping::Floor> floors;
   if (dictionary->HasKey("separate_floors") &&
       dictionary->GetBool("separate_floors")) {
@@ -161,7 +176,7 @@ std::unique_ptr<XRayPointsProcessor> XRayPointsProcessor::FromDictionary(
       dictionary->GetDouble("voxel_size"),
       transform::FromDictionary(dictionary->GetDictionary("transform").get())
           .cast<float>(),
-      floors, dictionary->GetString("filename"), next);
+      floors, dictionary->GetString("filename"), file_writer_factory, next);
 }
 
 void XRayPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
@@ -182,10 +197,14 @@ void XRayPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
 PointsProcessor::FlushResult XRayPointsProcessor::Flush() {
   if (floors_.empty()) {
     CHECK_EQ(voxels_.size(), 1);
-    WriteVoxels(output_filename_ + ".png", voxels_[0]);
+    WriteVoxels(voxels_[0],
+                file_writer_factory_(output_filename_ + ".png").get());
   } else {
     for (size_t i = 0; i < floors_.size(); ++i) {
-      WriteVoxels(output_filename_ + std::to_string(i) + ".png", voxels_[i]);
+      WriteVoxels(
+          voxels_[i],
+          file_writer_factory_(output_filename_ + std::to_string(i) + ".png")
+              .get());
     }
   }
 

cartographer/io/xray_points_processor.h

@@ -18,6 +18,7 @@
 #define CARTOGRAPHER_IO_XRAY_POINTS_PROCESSOR_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
 #include "cartographer/mapping/detect_floors.h"
 #include "cartographer/mapping/proto/trajectory.pb.h"
@@ -34,10 +35,13 @@ class XRayPointsProcessor : public PointsProcessor {
       "write_xray_image";
   XRayPointsProcessor(double voxel_size, const transform::Rigid3f& transform,
                       const std::vector<mapping::Floor>& floors,
-                      const string& output_filename, PointsProcessor* next);
+                      const string& output_filename,
+                      const FileWriterFactory& file_writer_factory,
+                      PointsProcessor* next);
 
   static std::unique_ptr<XRayPointsProcessor> FromDictionary(
       const mapping::proto::Trajectory& trajectory,
+      const FileWriterFactory& file_writer_factory,
       common::LuaParameterDictionary* dictionary, PointsProcessor* next);
 
   ~XRayPointsProcessor() override {}
@@ -47,6 +51,7 @@ class XRayPointsProcessor : public PointsProcessor {
 
  private:
   PointsProcessor* const next_;
+  const FileWriterFactory& file_writer_factory_;
 
   // If empty, we do not separate into floors.
   std::vector<mapping::Floor> floors_;

cartographer/io/xyz_writing_points_processor.cc

@@ -10,29 +10,32 @@ namespace io {
 
 namespace {
 
-void WriteXyzPoint(const Eigen::Vector3f& point, std::ofstream* output) {
+void WriteXyzPoint(const Eigen::Vector3f& point,
-  (*output) << point.x() << " " << point.y() << " " << point.z() << "\n";
+                   FileWriter* const file_writer) {
+  std::ostringstream stream;
+  stream << std::setprecision(6);
+  stream << point.x() << " " << point.y() << " " << point.z() << "\n";
+  const string out = stream.str();
+  CHECK(file_writer->Write(out.data(), out.size()));
 }
 
 }  // namespace
 
-XyzWriterPointsProcessor::XyzWriterPointsProcessor(const string& filename,
+XyzWriterPointsProcessor::XyzWriterPointsProcessor(
-                                                   PointsProcessor* next)
+    std::unique_ptr<FileWriter> file_writer, PointsProcessor* const next)
-    : next_(next), file_(filename, std::ios_base::out | std::ios_base::binary) {
+    : next_(next), file_writer_(std::move(file_writer)) {}
-  file_ << std::setprecision(6);
-}
 
 std::unique_ptr<XyzWriterPointsProcessor>
 XyzWriterPointsProcessor::FromDictionary(
+    const FileWriterFactory& file_writer_factory,
     common::LuaParameterDictionary* const dictionary,
     PointsProcessor* const next) {
   return common::make_unique<XyzWriterPointsProcessor>(
-      dictionary->GetString("filename"), next);
+      file_writer_factory(dictionary->GetString("filename")), next);
 }
 
 PointsProcessor::FlushResult XyzWriterPointsProcessor::Flush() {
-  file_.close();
+  CHECK(file_writer_->Close()) << "Closing XYZ file failed.";
-  CHECK(file_) << "Writing XYZ file failed.";
   switch (next_->Flush()) {
     case FlushResult::kFinished:
       return FlushResult::kFinished;
@@ -46,7 +49,7 @@ PointsProcessor::FlushResult XyzWriterPointsProcessor::Flush() {
 
 void XyzWriterPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
   for (const Eigen::Vector3f& point : batch->points) {
-    WriteXyzPoint(point, &file_);
+    WriteXyzPoint(point, file_writer_.get());
   }
   next_->Process(std::move(batch));
 }

cartographer/io/xyz_writing_points_processor.h

@@ -18,9 +18,11 @@
 #define CARTOGRAPHER_IO_XYZ_WRITING_POINTS_PROCESSOR_H_
 
 #include <fstream>
+#include <memory>
 #include <string>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
 
 namespace cartographer {
@@ -31,9 +33,10 @@ class XyzWriterPointsProcessor : public PointsProcessor {
  public:
   constexpr static const char* kConfigurationFileActionName = "write_xyz";
 
-  XyzWriterPointsProcessor(const string& filename, PointsProcessor* next);
+  XyzWriterPointsProcessor(std::unique_ptr<FileWriter>, PointsProcessor* next);
 
   static std::unique_ptr<XyzWriterPointsProcessor> FromDictionary(
+      const FileWriterFactory& file_writer_factory,
       common::LuaParameterDictionary* dictionary, PointsProcessor* next);
 
   ~XyzWriterPointsProcessor() override {}
@@ -46,7 +49,7 @@ class XyzWriterPointsProcessor : public PointsProcessor {
 
  private:
   PointsProcessor* const next_;
-  std::ofstream file_;
+  std::unique_ptr<FileWriter> file_writer_;
 };
 
 }  // namespace io