I am currently working with bfastSpatial, I am attempting to plot breakpoint values as a year colour based legend. I am aware of changeMonth function for plotting monthly based breakpoints (http://www.loicdutrieux.net/bfastSpatial/) however, I am attempting to achieve a similar outcome as in Morrison et al. (2019) https://www.mdpi.com/2072-4292/10/7/1075
Any assistance would be appreciated.

Using BFAST to show breakpoints
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If you want to round the breakpoint dates to integer years, you can use
floor, as the dates are in decimal years. Next, to make a similar plot as the one you showed, you can use thetmappackage. Since you did not attach any data to the OP, I used theturadata included in thebfastSpatialpackage.The obtained plot: