def get_terrain_semantics(self, center_point):
        """
        Return semantic maps indicating the property of the terrain for specific region
        Returns:

        """
        layer = ["lane", "lane_line"]
        if self.engine.global_config["show_crosswalk"]:
            layer.append("crosswalk")
        if self.engine.current_map:
            semantics = self.engine.current_map.get_semantic_map(
                center_point,
                size=self._semantic_map_size,
                pixels_per_meter=self._semantic_map_pixel_per_meter,
                white_line_thickness=2,
                yellow_line_thickness=3,
                # 1 when map_region_size == 2048, 2 for others
                layer=layer
            )
        else:
            logger.warning("Can not find map. Generate a square terrain")
            size = self._semantic_map_size * self._semantic_map_pixel_per_meter
            lane_color = MapTerrainSemanticColor.get_color(MetaDriveType.LANE_SURFACE_STREET)
            semantics = np.ones((size, size, 1), dtype=np.uint8) * lane_color  # use lane color
        return semantics

        Return semantic maps indicating the property of the terrain for specific region
        Returns:

        
metadrive/engine/core/terrain.py