A method to test the fidelity of a depth-imaging camera to depth-change abruptness of an imaged subject includes digitally generating, with the depth-imaging camera, a machine-readable calibration depth image of a calibration subject arranged in a field of view of the depth-imaging camera. The method includes machine processing the calibration depth image in a spatial domain to obtain a machine-readable measure of the fidelity in the spatial domain, and machine processing the measure of the fidelity in the spatial domain to obtain a measure of the fidelity in a frequency domain.