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I think the easiest would be to write some code to turn your array into a PGM file and a yaml file describing it (dimensions, origin). Once you have that you can use map_server. Not sure what your preferred language is, but in node.js you can easily create PGM files using https://www.npmjs.com/package/pgmjs or https://github.com/thejh/node-dumb-pgm/blob/master/index.js.

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