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You can try to use these packages:

• https://github.com/awesomebytes/occupancy_grid_python

• https://github.com/anybotics/grid_map

Especially last one, in C++, could be faster than your custom code

This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers

In general, you can try to speed up of your code if you reduce the scale of the map array to at most a few hundreds pixels in width and height - usually these types of hacks allow you to accelerate the code execution significantly