diff --git a/cartographer_ros/cartographer_ros/assets_writer.cc b/cartographer_ros/cartographer_ros/assets_writer.cc
index 4fce4e5..66d26d9 100644
--- a/cartographer_ros/cartographer_ros/assets_writer.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer.cc
@@ -17,6 +17,7 @@
 #include "cartographer_ros/assets_writer.h"
 
 #include "cartographer/common/make_unique.h"
+#include "cartographer/io/file_writer.h"
 #include "cartographer/io/null_points_processor.h"
 #include "cartographer/io/ply_writing_points_processor.h"
 #include "cartographer/io/points_processor.h"
@@ -47,21 +48,25 @@ void Write2DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
 void Write3DAssets(const std::vector<::cartographer::mapping::TrajectoryNode>&
                        trajectory_nodes,
                    const double voxel_size, const std::string& stem) {
+  const auto file_writer_factory = [](const string& filename) {
+    return carto::common::make_unique<carto::io::StreamFileWriter>(filename);
+  };
+
   carto::io::NullPointsProcessor null_points_processor;
   carto::io::XRayPointsProcessor xy_xray_points_processor(
       voxel_size, carto::transform::Rigid3f::Rotation(
                       Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
-      {}, stem + "_xray_xy", &null_points_processor);
+      {}, stem + "_xray_xy", file_writer_factory, &null_points_processor);
   carto::io::XRayPointsProcessor yz_xray_points_processor(
       voxel_size, carto::transform::Rigid3f::Rotation(
                       Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
-      {}, stem + "_xray_yz", &xy_xray_points_processor);
+      {}, stem + "_xray_yz", file_writer_factory, &xy_xray_points_processor);
   carto::io::XRayPointsProcessor xz_xray_points_processor(
       voxel_size, carto::transform::Rigid3f::Rotation(
                       Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
-      {}, stem + "_xray_xz", &yz_xray_points_processor);
+      {}, stem + "_xray_xz", file_writer_factory, &yz_xray_points_processor);
   carto::io::PlyWritingPointsProcessor ply_writing_points_processor(
-      stem + ".ply", &xz_xray_points_processor);
+      file_writer_factory(stem + ".ply"), &xz_xray_points_processor);
 
   for (const auto& node : trajectory_nodes) {
     const carto::sensor::LaserFan laser_fan = carto::sensor::TransformLaserFan(
diff --git a/cartographer_ros/cartographer_ros/assets_writer_main.cc b/cartographer_ros/cartographer_ros/assets_writer_main.cc
index 362fa3a..9ed021a 100644
--- a/cartographer_ros/cartographer_ros/assets_writer_main.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer_main.cc
@@ -23,6 +23,7 @@
 #include "cartographer/common/configuration_file_resolver.h"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
+#include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
 #include "cartographer/io/points_processor_pipeline_builder.h"
 #include "cartographer/sensor/laser.h"
@@ -156,8 +157,13 @@ void Run(const string& trajectory_filename, const string& bag_filename,
   carto::mapping::proto::Trajectory trajectory_proto;
   CHECK(trajectory_proto.ParseFromIstream(&stream));
 
+  const auto file_writer_factory = [](const string& filename) {
+    return carto::common::make_unique<carto::io::StreamFileWriter>(filename);
+  };
+
   carto::io::PointsProcessorPipelineBuilder builder;
-  carto::io::RegisterBuiltInPointsProcessors(trajectory_proto, &builder);
+  carto::io::RegisterBuiltInPointsProcessors(trajectory_proto, file_writer_factory,
+                                             &builder);
   std::vector<std::unique_ptr<carto::io::PointsProcessor>> pipeline =
       builder.CreatePipeline(
           lua_parameter_dictionary.GetDictionary("pipeline").get());