QuickCheck: Were tomatoes bred from a poisonous plant?

YOU eat them raw in your salads, puree them for your pizza sauce or cube them and stick them in your rice cooker to make "nasi tomato". Tomatoes are ubiquitous and used in some shape or form in almost every type of cuisine on the planet. As popular as this berry masquerading as a vegetable is, its roots actually stem from a darker past.

Is it true that the tomato plant was bred from a poisonous plant?