diff --git a/guilib/include/rtabmap/gui/DatabaseViewer.h b/guilib/include/rtabmap/gui/DatabaseViewer.h
index d5b0e10d..806a8a90 100644
--- a/guilib/include/rtabmap/gui/DatabaseViewer.h
+++ b/guilib/include/rtabmap/gui/DatabaseViewer.h
@@ -59,6 +59,7 @@ private slots:
 	void exportDatabase();
 	void extractImages();
 	void generateLocalGraph();
+	void generateTOROGraph();
 	void view3DMap();
 	void generate3DMap();
 	void sliderAValueChanged(int);
diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
index 9911fdf6..d2b8ae81 100644
--- a/guilib/src/DatabaseViewer.cpp
+++ b/guilib/src/DatabaseViewer.cpp
@@ -75,9 +75,12 @@ DatabaseViewer::DatabaseViewer(QWidget * parent) :
 	connect(ui_->actionExtract_images, SIGNAL(triggered()), this, SLOT(extractImages()));
 	connect(ui_->actionGenerate_graph_dot, SIGNAL(triggered()), this, SLOT(generateGraph()));
 	connect(ui_->actionGenerate_local_graph_dot, SIGNAL(triggered()), this, SLOT(generateLocalGraph()));
+	connect(ui_->actionGenerate_TORO_graph_graph, SIGNAL(triggered()), this, SLOT(generateTOROGraph()));
 	connect(ui_->actionView_3D_map, SIGNAL(triggered()), this, SLOT(view3DMap()));
 	connect(ui_->actionGenerate_3D_map_pcd, SIGNAL(triggered()), this, SLOT(generate3DMap()));
 
+	ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
+
 	ui_->horizontalSlider_A->setTracking(false);
 	ui_->horizontalSlider_B->setTracking(false);
 	ui_->horizontalSlider_A->setEnabled(false);
@@ -290,6 +293,8 @@ void DatabaseViewer::updateIds()
 		ui_->spinBox_optimizationsFrom->setValue(memory_->getLastWorkingSignature()->id());
 	}
 
+	ui_->actionGenerate_TORO_graph_graph->setEnabled(false);
+	graphes_.clear();
 	neighborLinks_.clear();
 	loopLinks_.clear();
 	for(std::multimap<int, rtabmap::Link>::iterator iter = links_.begin(); iter!=links_.end(); ++iter)
@@ -413,6 +418,26 @@ void DatabaseViewer::generateLocalGraph()
 	}
 }
 
+void DatabaseViewer::generateTOROGraph()
+{
+	if(!graphes_.size() || !links_.size())
+	{
+		QMessageBox::warning(this, tr("Cannot generate a TORO graph"), tr("No poses or no links..."));
+		return;
+	}
+	bool ok = false;
+	int id = QInputDialog::getInt(this, tr("Which iteration?"), tr("Iteration (0 -> %1)").arg(graphes_.size()-1), graphes_.size()-1, 0, graphes_.size()-1, 1, &ok);
+
+	if(ok)
+	{
+		QString path = QFileDialog::getSaveFileName(this, tr("Save File"), pathDatabase_+"/constraints" + QString::number(id) + ".graph", tr("TORO file (*.graph)"));
+		if(!path.isEmpty())
+		{
+			rtabmap::util3d::saveTOROGraph(path.toStdString(), uValueAt(graphes_, id), links_);
+		}
+	}
+}
+
 void DatabaseViewer::view3DMap()
 {
 	if(!ids_.size() || !memory_)
@@ -899,6 +924,7 @@ void DatabaseViewer::updateGraphView()
 
 		std::map<int, rtabmap::Transform> finalPoses;
 		graphes_.push_back(poses_);
+		ui_->actionGenerate_TORO_graph_graph->setEnabled(true);
 
 		std::map<int, int> ids = memory_->getNeighborsId(ui_->spinBox_optimizationsFrom->value(), 0, -1, true);
 		// Modify IDs using the margin from the current signature (TORO root will be the last signature)
diff --git a/guilib/src/ui/DatabaseViewer.ui b/guilib/src/ui/DatabaseViewer.ui
index a8a58bf5..88bb320b 100644
--- a/guilib/src/ui/DatabaseViewer.ui
+++ b/guilib/src/ui/DatabaseViewer.ui
@@ -280,6 +280,7 @@
     </property>
     <addaction name="actionGenerate_graph_dot"/>
     <addaction name="actionGenerate_local_graph_dot"/>
+    <addaction name="actionGenerate_TORO_graph_graph"/>
     <addaction name="separator"/>
     <addaction name="actionClean_database"/>
     <addaction name="actionClean_local_graph"/>
@@ -458,7 +459,7 @@
   </action>
   <action name="actionGenerate_graph_dot">
    <property name="text">
-    <string>Generate graph (.dot) ...</string>
+    <string>Generate graph (*.dot) ...</string>
    </property>
   </action>
   <action name="actionGenerate_graph_only_weighted_locations">
@@ -488,7 +489,7 @@
   </action>
   <action name="actionGenerate_3D_map_pcd">
    <property name="text">
-    <string>Export 3D map (.pcd) ...</string>
+    <string>Export 3D map (*.pcd) ...</string>
    </property>
   </action>
   <action name="actionExport">
@@ -506,6 +507,11 @@
     <string>View 3D map...</string>
    </property>
   </action>
+  <action name="actionGenerate_TORO_graph_graph">
+   <property name="text">
+    <string>Generate TORO graph (*.graph)...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>