The invention discloses a streetscape image generating method based on true color point cloud, and belongs to the field of measurable streetscape images. According to the method, the true color point cloud is used for being projected into a streetscape image according to spherical projection requirements; the color of each point in the point cloud is assigned to a specific pixel in the streetscape image; and meanwhile, depth-of-field information of the pixel is recorded. According to the method, mass point cloud data are used for generating the streetscape image through projection, so that the data volume is greatly reduced, and the method is more suitable to be applied to Internet. The streetscape image generating method has the advantages that a synchronously generated depth-of-field image is matched with the streetscape image, and visible points in the streetscape image can be subjected to three-dimensional coordinate calculation, so that the measurable requirement can be met. The position and the posture of the streetscape image generated by the method provided by the invention can be freely set without being restrained by data collecting lines. According to the method, the goal of only generating the streetscape image in a specific subject or even realizing overlapping display on panoramic images of a plurality of subjects can be achieved through setting filtering conditions set for the point cloud.