r.raster = raster()
extent(r.raster) = extent(setor) #definindo o extent do raster
res(r.raster) = 10 #definindo o tamanho do pixel
setor.r = rasterize(setor, r.raster, 'dens_imov')

# Load libraries
library('raster')
library('rgdal')

# Load a SpatialPolygonsDataFrame example
# Load Brazil administrative level 2 shapefile
BRA_adm2 <- raster::getData(country = "BRA", level = 2)

# Plot BRA_adm2
plot(BRA_adm2)
box()

# Define RasterLayer object
r.raster <- raster()

# Define raster extent
extent(r.raster) <- extent(BRA_adm2)

# Define pixel size
res(r.raster) <- 0.1

# Simple thread -----------------------------------------------------------

# Rasterize
system.time(BRA_adm2.r <- rasterize(BRA_adm2, r.raster, 'NAME_2'))

# Output:
# user  system elapsed
# 23.883    0.010   23.891

# Multithread -------------------------------------------------------------

# Load 'parallel' package for support Parallel computation in R
library('parallel')

# Calculate the number of cores
no_cores <- detectCores() - 1

# Number of polygons features in SPDF
features <- 1:nrow(BRA_adm2[,])

# Split features in n parts
n <- 50
parts <- split(features, cut(features, n))

# Initiate cluster (after loading all the necessary object to R environment: BRA_adm2, parts, r.raster, n)
cl <- makeCluster(no_cores, type = "FORK")
print(cl)

# Parallelize rasterize function
system.time(rParts <- parLapply(cl = cl, X = 1:n, fun = function(x) rasterize(BRA_adm2[parts[[x]],], r.raster, 'NAME_2')))

# Finish
stopCluster(cl)

# Merge all raster parts
rMerge <- do.call(merge, rParts)

# Plot raster
plot(rMerge)

# Output:
# user  system elapsed
# 0.203   0.033   8.688