diff --git a/cartographer_ros/cartographer_ros/assets_writer.cc b/cartographer_ros/cartographer_ros/assets_writer.cc
index 66d5d6f..7367ef3 100644
--- a/cartographer_ros/cartographer_ros/assets_writer.cc
+++ b/cartographer_ros/cartographer_ros/assets_writer.cc
@@ -66,10 +66,8 @@ std::unique_ptr<carto::io::PointsProcessorPipelineBuilder>
 CreatePipelineBuilder(
     const std::vector<carto::mapping::proto::Trajectory>& trajectories,
     const std::string file_prefix) {
-  const auto file_writer_factory = [file_prefix](const std::string& filename) {
-    return carto::common::make_unique<carto::io::StreamFileWriter>(file_prefix +
-                                                                   filename);
-  };
+  const auto file_writer_factory =
+      AssetsWriter::CreateFileWriterFactory(file_prefix);
   auto builder =
       carto::common::make_unique<carto::io::PointsProcessorPipelineBuilder>();
   carto::io::RegisterBuiltInPointsProcessors(trajectories, file_writer_factory,
@@ -168,6 +166,12 @@ AssetsWriter::AssetsWriter(const std::string& pose_graph_filename,
       CreatePipelineBuilder(all_trajectories_, file_prefix);
 }
 
+void AssetsWriter::RegisterPointsProcessor(
+    const std::string& name,
+    cartographer::io::PointsProcessorPipelineBuilder::FactoryFunction factory) {
+  point_pipeline_builder_->Register(name, factory);
+}
+
 void AssetsWriter::Run(const std::string& configuration_directory,
                        const std::string& configuration_basename,
                        const std::string& urdf_filename,
@@ -263,4 +267,13 @@ void AssetsWriter::Run(const std::string& configuration_directory,
            carto::io::PointsProcessor::FlushResult::kRestartStream);
 }
 
+::cartographer::io::FileWriterFactory AssetsWriter::CreateFileWriterFactory(
+    const std::string& file_path) {
+  const auto file_writer_factory = [file_path](const std::string& filename) {
+    return carto::common::make_unique<carto::io::StreamFileWriter>(file_path +
+                                                                   filename);
+  };
+  return file_writer_factory;
+}
+
 }  // namespace cartographer_ros
diff --git a/cartographer_ros/cartographer_ros/assets_writer.h b/cartographer_ros/cartographer_ros/assets_writer.h
index 13ef7cb..3c3bf80 100644
--- a/cartographer_ros/cartographer_ros/assets_writer.h
+++ b/cartographer_ros/cartographer_ros/assets_writer.h
@@ -33,12 +33,23 @@ class AssetsWriter {
                const std::vector<std::string>& bag_filenames,
                const std::string& output_file_prefix);
 
+  // Registers a new PointsProcessor type uniquly identified by 'name' which
+  // will be created using 'factory'.
+  void RegisterPointsProcessor(
+      const std::string& name,
+      cartographer::io::PointsProcessorPipelineBuilder::FactoryFunction
+          factory);
+
   // Configures a points processing pipeline and pushes the points from the
   // bag through the pipeline.
   void Run(const std::string& configuration_directory,
            const std::string& configuration_basename,
            const std::string& urdf_filename, bool use_bag_transforms);
 
+  // Creates a FileWriterFactory which creates a FileWriter for storing assets.
+  static ::cartographer::io::FileWriterFactory CreateFileWriterFactory(
+      const std::string& file_path);
+
  private:
   std::vector<std::string> bag_filenames_;
   std::vector<::cartographer::mapping::proto::Trajectory> all_trajectories_;