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Overlays within Street View

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JavaScript
var panorama;

function initMap() {
  var astorPlace = {lat: 40.729884, lng: -73.990988};

  // Set up the map
  var map = new google.maps.Map(document.getElementById('map'), {
    center: astorPlace,
    zoom: 18,
    streetViewControl: false
  });

  // Set up the markers on the map
  var cafeMarker = new google.maps.Marker({
      position: {lat: 40.730031, lng: -73.991428},
      map: map,
      icon: 'http://chart.apis.google.com/chart?chst=d_map_pin_icon&chld=cafe|FFFF00',
      title: 'Cafe'
  });

  var bankMarker = new google.maps.Marker({
      position: {lat: 40.729681, lng: -73.991138},
      map: map,
      icon: 'http://chart.apis.google.com/chart?chst=d_map_pin_icon&chld=dollar|FFFF00',
      title: 'Bank'
  });

  var busMarker = new google.maps.Marker({
      position: {lat: 40.729559, lng: -73.990741},
      map: map,
      icon: 'http://chart.apis.google.com/chart?chst=d_map_pin_icon&chld=bus|FFFF00',
      title: 'Bus Stop'
  });

  // We get the map's default panorama and set up some defaults.
  // Note that we don't yet set it visible.
  panorama = map.getStreetView();
  panorama.setPosition(astorPlace);
  panorama.setPov(/** @type {google.maps.StreetViewPov} */({
    heading: 265,
    pitch: 0
  }));
}

function toggleStreetView() {
  var toggle = panorama.getVisible();
  if (toggle == false) {
    panorama.setVisible(true);
  } else {
    panorama.setVisible(false);
  }
}
JavaScript + HTML
<!DOCTYPE html>
<html>
  <head>
    <meta charset="utf-8">
    <title>Overlays within Street View</title>
    <style>
      html, body {
        height: 100%;
        margin: 0;
        padding: 0;
      }
      #map {
        height: 100%;
      }
#panel {
  position: absolute;
  top: 10px;
  left: 25%;
  z-index: 5;
  background-color: #fff;
  padding: 5px;
  border: 1px solid #999;
  text-align: center;
}

/**
 * Provide the following styles for both ID and class, where ID represents an
 * actual existing "panel" with JS bound to its name, and the class is just
 * non-map content that may already have a different ID with JS bound to its
 * name.
 */

#panel, .panel {
  font-family: 'Roboto','sans-serif';
  line-height: 30px;
  padding-left: 10px;
}

#panel select, #panel input, .panel select, .panel input {
  font-size: 15px;
}

#panel select, .panel select {
  width: 100%;
}

#panel i, .panel i {
  font-size: 12px;
}

    </style>
  </head>
  <body>
    <div id="panel" style="margin-left:-100px">
      <input type="button" value="Toggle Street View" onclick="toggleStreetView();"></input>
    </div>
    <div id="map"></div>
    <script>
var panorama;

function initMap() {
  var astorPlace = {lat: 40.729884, lng: -73.990988};

  // Set up the map
  var map = new google.maps.Map(document.getElementById('map'), {
    center: astorPlace,
    zoom: 18,
    streetViewControl: false
  });

  // Set up the markers on the map
  var cafeMarker = new google.maps.Marker({
      position: {lat: 40.730031, lng: -73.991428},
      map: map,
      icon: 'http://chart.apis.google.com/chart?chst=d_map_pin_icon&chld=cafe|FFFF00',
      title: 'Cafe'
  });

  var bankMarker = new google.maps.Marker({
      position: {lat: 40.729681, lng: -73.991138},
      map: map,
      icon: 'http://chart.apis.google.com/chart?chst=d_map_pin_icon&chld=dollar|FFFF00',
      title: 'Bank'
  });

  var busMarker = new google.maps.Marker({
      position: {lat: 40.729559, lng: -73.990741},
      map: map,
      icon: 'http://chart.apis.google.com/chart?chst=d_map_pin_icon&chld=bus|FFFF00',
      title: 'Bus Stop'
  });

  // We get the map's default panorama and set up some defaults.
  // Note that we don't yet set it visible.
  panorama = map.getStreetView();
  panorama.setPosition(astorPlace);
  panorama.setPov(/** @type {google.maps.StreetViewPov} */({
    heading: 265,
    pitch: 0
  }));
}

function toggleStreetView() {
  var toggle = panorama.getVisible();
  if (toggle == false) {
    panorama.setVisible(true);
  } else {
    panorama.setVisible(false);
  }
}

    </script>
    <script
        src="https://maps.googleapis.com/maps/api/js?signed_in=true&callback=initMap"
        async defer>
    </script>
  </body>
</html>

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