I am using cork. I used it in the last boat as well as rigid foam. The cork has a few properties I like over the rigid foam so I'm strictly using that this time around.
It curves better so it is in 100% contact with the hull. The foam can leave little air gaps, which could condensate and cause problems.
If you make a paper template you can insulate very cramp lockers. You just use the template to cut the cork, roll it up and slip it into the locker then unroll and glue it in. If using the rigid foam this would need several smaller pieces.
Cork is cheap; I got a 3x300 foot roll off eBay for a couple hundred dollars.
A tip, use 3m super 90! the super 77 will hold it in place long enough to install some sort of finishing cover over (like my overhead panels) but will not hold up forever. I have some areas with lots of curves, like the pilot's berth that are just cork, no finish cover. They were put up with super 90 and are still looking great a year later. I tried to use contact cement. If you have a dozen small children to apply pressure while the stuff kicks off, great, but the super 90 is crazy fast (be sure to have the cork lined up square, there is no moving it once it touches!).
The boat is a bit warmer, but most importantly, no condensation, ever in Seattle winters living aboard. I cook a lot with propane and this winter was night and day different thanks to the insulation. No more wet sheets.
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