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Note: I didn't look in the current version's source. For the 0.8 I am working with:

  1. You probably need to write your own code (given you want occupany mapping) as the default OcTreeNode is already a OcTreeDataNote<float>. It is quite simple though, as you can just derive the classes and make sure the new node class is instantiated in the tree.

  2. That's definitely possible as you pass a max_depth to the querying function and then the inner node's value will be returned.