diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
index aee3ac88b..b3209e104 100644
--- a/cmake/GtsamTesting.cmake
+++ b/cmake/GtsamTesting.cmake
@@ -121,6 +121,69 @@ macro(gtsamAddTestsGlob groupName globPatterns excludedFiles linkLibraries)
 	endif()
 endmacro()
 
+# Macro for adding scripts - one executable per cpp file.
+# globPatterns: e.g. "*.cpp", or a list of globs and files, e.g. "A*.cpp;B*.cpp".
+# excludedFiles: list of files or globs to exclude, e.g. "testC*.cpp;testBroken.cpp".
+# linkLibraries: list of libraries to link to.
+# Usage example:  gtsamAddScriptsGlob("*.cpp" "Broken.cpp" "gtsam;GeographicLib")
+macro(gtsamAddExamplesGlob globPatterns excludedFiles linkLibraries)
+    # Get all script files
+    file(GLOB script_files ${globPatterns})
+
+    # Remove excluded scripts from the list
+    if(NOT "${excludedFiles}" STREQUAL "")
+		file(GLOB excludedFilePaths ${excludedFiles})
+		if("${excludedFilePaths}" STREQUAL "")
+			message(WARNING "The script exclusion pattern '${excludedFiles}' did not match any files")
+		else()
+	    	list(REMOVE_ITEM script_files ${excludedFilePaths})
+		endif()
+    endif()
+
+	# Separate into source files and headers (allows for adding headers to show up in
+	# MSVC and Xcode projects).
+	set(script_srcs "")
+	set(script_headers "")
+	foreach(script_file IN ITEMS ${script_files})
+		get_filename_component(script_ext ${script_file} EXT)
+		if(script_ext MATCHES "(h|H)")
+			list(APPEND script_headers ${script_file})
+		else()
+			list(APPEND script_srcs ${script_file})
+		endif()
+	endforeach()
+
+	# Don't put test files in folders in MSVC and Xcode because they're already grouped
+	source_group("" FILES ${script_srcs} ${script_headers})
+
+	# Create executables
+	foreach(script_src IN ITEMS ${script_srcs})
+		# Get script base name
+		get_filename_component(script_name ${script_src} NAME_WE)
+
+		# Add executable
+		add_executable(${script_name} ${script_src} ${script_headers})
+		target_link_libraries(${script_name} ${linkLibraries})
+	
+		# Add target dependencies
+		add_dependencies(examples ${script_name})
+		if(NOT MSVC AND NOT XCODE_VERSION)
+		  add_custom_target(${script_name}.run ${EXECUTABLE_OUTPUT_PATH}${script_name})
+		endif()
+
+		# Add TOPSRCDIR
+		set_property(SOURCE ${script_src} APPEND PROPERTY COMPILE_DEFINITIONS "TOPSRCDIR=\"${PROJECT_SOURCE_DIR}\"")
+	
+		if(NOT GTSAM_BUILD_EXAMPLES_ALWAYS)
+			# Exclude from 'make all' and 'make install'
+			set_target_properties(${target_name} PROPERTIES EXCLUDE_FROM_ALL ON)
+		endif()
+
+		# Configure target folder (for MSVC and Xcode)
+		set_property(TARGET ${script_name} PROPERTY FOLDER "Examples")
+	endforeach()
+endmacro()
+
 # Macro for adding categorized tests in a "tests" folder, with 
 # optional exclusion of tests and convenience library linking options
 #  
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index d87070330..7251c2b6f 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,42 +1,8 @@
-if(NOT MSVC)
-  add_custom_target(examples)
-endif()
-
-# Build example executables
-FILE(GLOB example_srcs "*.cpp")
-
-set (excluded_examples #"")
-    "${CMAKE_CURRENT_SOURCE_DIR}/DiscreteBayesNet_FG.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/UGM_chain.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/UGM_small.cpp"
-    "${CMAKE_CURRENT_SOURCE_DIR}/elaboratePoint2KalmanFilter.cpp"
+set (excluded_examples
+    DiscreteBayesNet_FG.cpp
+    UGM_chain.cpp
+    UGM_small.cpp
+    elaboratePoint2KalmanFilter.cpp
 )
 
-list(REMOVE_ITEM example_srcs ${excluded_examples})
-
-foreach(example_src ${example_srcs} )
-    get_filename_component(example_base ${example_src} NAME_WE)
-    set( example_bin ${example_base} )
-    message(STATUS "Adding Example ${example_bin}")
-	if(NOT MSVC)
-      add_dependencies(examples ${example_bin})
-	endif()
-    add_executable(${example_bin} ${example_src})
-    
-    # Disable building during make all/install
-    if (GTSAM_DISABLE_EXAMPLES_ON_INSTALL)
-        set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
-    endif()
-    
-    target_link_libraries(${example_bin} gtsam ${Boost_PROGRAM_OPTIONS_LIBRARY})
-	if(NOT MSVC AND NOT XCODE_VERSION)
-      add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN})
-	endif()
-	
-	# Set up Visual Studio folder
-	if(MSVC)
-	  set_property(TARGET ${example_bin} PROPERTY FOLDER "Examples")
-	endif()
-
-endforeach(example_src)
-
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam;${Boost_PROGRAM_OPTIONS_LIBRARY}")
diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt
index 1072999b2..18346a45a 100644
--- a/gtsam_unstable/discrete/CMakeLists.txt
+++ b/gtsam_unstable/discrete/CMakeLists.txt
@@ -5,27 +5,5 @@ install(FILES ${discrete_headers} DESTINATION include/gtsam_unstable/discrete)
 # Add all tests
 add_subdirectory(tests)
 
-# List examples to build - comment out here to exclude from compilation
-set(discrete_unstable_examples
-schedulingExample
-schedulingQuals12
-schedulingQuals13
-)
-
-if (GTSAM_BUILD_EXAMPLES)
-    foreach(example ${discrete_unstable_examples})
-    	add_executable(${example} "examples/${example}.cpp")
-    	
-    	# Disable building during make all/install
-        if (GTSAM_ENABLE_INSTALL_EXAMPLE_FIX)
-            set_target_properties(${example} PROPERTIES EXCLUDE_FROM_ALL ON)
-        endif()
-    	
-		if(NOT MSVC AND NOT XCODE_VERSION)
-			add_dependencies(examples ${example})
-			add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN})
-		endif()
-    	
-    	target_link_libraries(${example} gtsam gtsam_unstable)
-    endforeach(example)
-endif (GTSAM_BUILD_EXAMPLES)
+# Add examples
+add_subdirectory(examples)
diff --git a/gtsam_unstable/discrete/examples/CMakeLists.txt b/gtsam_unstable/discrete/examples/CMakeLists.txt
new file mode 100644
index 000000000..da06b7dfc
--- /dev/null
+++ b/gtsam_unstable/discrete/examples/CMakeLists.txt
@@ -0,0 +1,5 @@
+set (excluded_examples
+    # fileToExclude.cpp
+)
+
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")
diff --git a/gtsam_unstable/examples/CMakeLists.txt b/gtsam_unstable/examples/CMakeLists.txt
index d95ab7706..da06b7dfc 100644
--- a/gtsam_unstable/examples/CMakeLists.txt
+++ b/gtsam_unstable/examples/CMakeLists.txt
@@ -1,32 +1,5 @@
-if(NOT MSVC)
-  add_custom_target(unstable_examples)
-endif()
-
-# Build example executables
-FILE(GLOB example_srcs "*.cpp")
-foreach(example_src ${example_srcs} )
-    get_filename_component(example_base ${example_src} NAME_WE)
-    set( example_bin ${example_base} )
-    message(STATUS "Adding Example ${example_bin}")
-	if(NOT MSVC)
-      add_dependencies(examples ${example_bin})
-	endif()
-    add_executable(${example_bin} ${example_src})
-    
-    # Disable building during make all/install
-    if (GTSAM_DISABLE_EXAMPLES_ON_INSTALL)
-        set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
-    endif()
-    
-    target_link_libraries(${example_bin} gtsam gtsam_unstable)
-	if(NOT MSVC AND NOT XCODE_VERSION)
-      add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN})
-	endif()
-	
-	# Set up Visual Studio folder
-	if(MSVC)
-	  set_property(TARGET ${example_bin} PROPERTY FOLDER "Examples")
-	endif()
-
-endforeach(example_src)
+set (excluded_examples
+    # fileToExclude.cpp
+)
 
+gtsamAddExamplesGlob("*.cpp" "${excluded_examples}" "gtsam_unstable")