How to triangulate a simple 2d surface to generate a constrained surface trimesh
The fastest and easiest way to do this is using blender. Simply import the svg (supported out of the box) into blender. The svg will be imported as a "curve"-type geometry. Optionally do some clean up/refinement. The curves can then be converted to a mesh. The mesh defaults to a trimesh. Voila - svg to trimesh in a couple of seconds.

Mesh refinement is not very fine-grained, but there is some measure of control via the "beauty-fill", "subdivide" and "triangulate" as well as "merge vertices by distance" tools from within blender.

The IBO (vertices + triangle vertex indices) can then be extracted using a short python script:

import bpy
obdata = bpy.context.object.data # selected object
for v in obdata.vertices:
    fh.write('({}, {}),\n'.format(v.co.x, v.co.y))
for f in obdata.polygons:
    for v in f.vertices:
        print('{} '.format(v))