I teach perspective all the time. I work with kids who are severely
emotionally disturbed. They tend to be behind academically due to behavior
problems. I teach one point and two point perspective to students 6th grade
and up. Despite their low academic performance in other classes, perspective
is one unit they in which they thrive. This is particularly true for the
"non-art" kids; some kids say they "can't draw" and hate art. These are the
kids who usually LOVE perspective.
I don't know about any developmental window, but I have taught perspective
successfully to students from grades 5th grade to college. It always works
for me.