diff --git a/unity/Assets/Scripts/AgentManager.cs b/unity/Assets/Scripts/AgentManager.cs
index f4163ac819..c59cec89b9 100644
--- a/unity/Assets/Scripts/AgentManager.cs
+++ b/unity/Assets/Scripts/AgentManager.cs
@@ -352,6 +352,13 @@ public void Initialize(ServerAction action) {
                 action.alwaysReturnVisibleRange;
         }
 
+        //deprecation check for visibilityScheme
+        if(action.visibilityScheme != VisibilityScheme.Distance.ToString()) {
+            throw new ArgumentException(
+                $"Invalid visibilityScheme {action.visibilityScheme}. Must be 'Distance'."
+            );
+        }
+
         //if multi agent requested, add duplicates of primary agent now
         addAgents(action);
         this.agents[0].m_Camera.depth = 9999;
@@ -2687,7 +2694,7 @@ public static VisibilityScheme GetVisibilitySchemeFromString(string visibilitySc
         catch (ArgumentException ex) {
 #pragma warning restore 0168
             Debug.LogError(
-                "Error parsing visibilityScheme: '" + visibilityScheme + "' defaulting to Collider"
+                "Error parsing visibilityScheme: '" + visibilityScheme + "' defaulting to Distance Based"
             );
         }
 
diff --git a/unity/Assets/Scripts/BaseFPSAgentController.cs b/unity/Assets/Scripts/BaseFPSAgentController.cs
index ae6617f01a..a9090d501f 100644
--- a/unity/Assets/Scripts/BaseFPSAgentController.cs
+++ b/unity/Assets/Scripts/BaseFPSAgentController.cs
@@ -4560,11 +4560,12 @@ public void GetVisibleObjectsFromCamera(
             Camera camera = m_Camera;
             if (thirdPartyCameraId.HasValue) {
                 camera = agentManager.thirdPartyCameras[thirdPartyCameraId.Value];
-                if (this.visibilityScheme != VisibilityScheme.Distance) {
-                    throw new System.NotImplementedException(
-                        $"Visibility scheme {this.visibilityScheme} is not implemented for third party cameras. Default visibility scheme should be 'Distance'."
-                    );
-                }
+            }
+
+            if (this.visibilityScheme != VisibilityScheme.Distance) {
+                throw new System.NotImplementedException(
+                    $"Visibility scheme {this.visibilityScheme} is not compatible. Visibility scheme should be 'Distance'."
+                );
             }
 
             //only check visibility for objects with these ids otherwise check them all
@@ -4614,17 +4615,18 @@ public void GetVisibleObjects(
             Camera camera; //which camera are we checking visibility from?
             if (thirdPartyCameraIndex.HasValue) {
                 camera = agentManager.thirdPartyCameras[thirdPartyCameraIndex.Value];
-                if (this.visibilityScheme != VisibilityScheme.Distance) {
-                    throw new System.NotImplementedException(
-                        $"Visibility scheme {this.visibilityScheme} is not implemented for third party cameras. Default visibility scheme should be 'Distance'."
-                    );
-                }
             }
             //can also be used to query main camera
             else {
                 camera = m_Camera;
             }
 
+            if (this.visibilityScheme != VisibilityScheme.Distance) {
+                throw new System.NotImplementedException(
+                    $"Visibility scheme {this.visibilityScheme} is not compatible. Visibility scheme should be 'Distance'."
+                );
+            }
+
             List<SimObjPhysics> filterSimObjs = null;
             if (objectIds != null) {
                 foreach (string objectId in objectIds) {