diff --git a/evo/common_ape_rpe.py b/evo/common_ape_rpe.py
index db6b5902..8fdf4158 100644
--- a/evo/common_ape_rpe.py
+++ b/evo/common_ape_rpe.py
@@ -134,13 +134,22 @@ def plot_result(args: argparse.Namespace, result: Result, traj_ref: PosePath3D,
         x_array = None
         x_label = "index"
 
+    if args.plot_colormap_min is None:
+        args.plot_colormap_min = result.stats["min"]
+    if args.plot_colormap_max is None:
+        args.plot_colormap_max = result.stats["max"]
+
+    y_lim = (None, None)
+    if args.plot_raw_with_same_limits_as_colormap:
+        y_lim = (args.plot_colormap_min, args.plot_colormap_max)
+
     plot.error_array(
         fig1.gca(), result.np_arrays["error_array"], x_array=x_array,
         statistics={
             s: result.stats[s]
             for s in SETTINGS.plot_statistics if s not in ("min", "max")
         }, name=result.info["label"], title=result.info["title"],
-        xlabel=x_label)
+        xlabel=x_label, ylim=y_lim)
 
     # Plot the values color-mapped onto the trajectory.
     fig2 = plt.figure(figsize=SETTINGS.plot_figsize)
@@ -155,10 +164,6 @@ def plot_result(args: argparse.Namespace, result: Result, traj_ref: PosePath3D,
     plot.draw_coordinate_axes(ax, traj_ref, plot_mode,
                               SETTINGS.plot_reference_axis_marker_scale)
 
-    if args.plot_colormap_min is None:
-        args.plot_colormap_min = result.stats["min"]
-    if args.plot_colormap_max is None:
-        args.plot_colormap_max = result.stats["max"]
     if args.plot_colormap_max_percentile is not None:
         args.plot_colormap_max = np.percentile(
             result.np_arrays["error_array"], args.plot_colormap_max_percentile)
diff --git a/evo/main_ape.py b/evo/main_ape.py
index ab60f2a8..8f0d4565 100755
--- a/evo/main_ape.py
+++ b/evo/main_ape.py
@@ -95,6 +95,10 @@ def parser() -> argparse.ArgumentParser:
         help="percentile of the error distribution to be used "
         "as the upper bound of the color map plot "
         "(in %%, overrides --plot_colormap_max)")
+    output_opts.add_argument(
+        "--plot_raw_with_same_limits_as_colormap", type=bool,
+        help="set y-axis of raw value plot to the limits  "
+        "of the color map plot (default: autoscaling)")
     output_opts.add_argument(
         "--plot_full_ref",
         action="store_true",
diff --git a/evo/tools/plot.py b/evo/tools/plot.py
index b42d9aa9..78903484 100644
--- a/evo/tools/plot.py
+++ b/evo/tools/plot.py
@@ -595,6 +595,7 @@ def error_array(ax: plt.Axes, err_array: ListOrArray,
                 threshold: float = None, cumulative: bool = False,
                 color: str = 'grey', name: str = "error", title: str = "",
                 xlabel: str = "index", ylabel: typing.Optional[str] = None,
+                xlim: typing.Tuple[float, float] = None, ylim: typing.Tuple[float, float] = None,
                 subplot_arg: int = 111, linestyle: str = "-",
                 marker: typing.Optional[str] = None):
     """
@@ -609,6 +610,8 @@ def error_array(ax: plt.Axes, err_array: ListOrArray,
     :param title: optional plot title
     :param xlabel: optional x-axis label
     :param ylabel: optional y-axis label
+    :param xlim: optional tuple of x-axis limits
+    :param ylim: optional tuple of y-axis limits 
     :param subplot_arg: optional matplotlib subplot ID if used as subplot
     :param linestyle: matplotlib linestyle
     :param marker: optional matplotlib marker style for points
@@ -627,6 +630,12 @@ def error_array(ax: plt.Axes, err_array: ListOrArray,
         else:
             ax.plot(err_array, linestyle=linestyle, marker=marker, color=color,
                     label=name)
+
+    if xlim is not None:
+        ax.set_xlim(xlim)
+    if ylim is not None:
+        ax.set_ylim(ylim)
+
     if statistics is not None:
         for stat_name, value in statistics.items():
             color = next(ax._get_lines.prop_cycler)['color']
@@ -640,6 +649,7 @@ def error_array(ax: plt.Axes, err_array: ListOrArray,
     if threshold is not None:
         ax.axhline(y=threshold, color='red', linestyle='dashed', linewidth=2.0,
                    label="threshold")
+
     plt.ylabel(ylabel if ylabel else name)
     plt.xlabel(xlabel)
     plt.title(title)