docs: def to_mesh(self, dist_thresh=0.01):
          """ Convert the point cloud to a mesh.
  
          Returns
          -------
          :obj:`trimesh.Trimesh`
              mesh of the point cloud
          """
          # init vertex and triangle buffers
          vertices = []
          triangles = []
          vertex_indices = -1 * np.ones([self.height, self.width]).astype(np.int32)
          
          for i in range(self.height-1):
              for j in range(self.width-1):
                  # read corners of square
                  v0 = self.data[i,j,:]
                  v1 = self.data[i,j+1,:]
                  v2 = self.data[i+1,j,:]
                  v3 = self.data[i+1,j+1,:]
  
                  # check distances
                  d01 = np.abs(v0[2] - v1[2])
                  d02 = np.abs(v0[2] - v2[2])
                  d03 = np.abs(v0[2] - v3[2])
                  d13 = np.abs(v1[2] - v3[2])
                  d23 = np.abs(v2[2] - v3[2])
  
                  # add tri 1
                  if max(d01, d03, d13) < dist_thresh:
                      # add vertices
                      if vertex_indices[i,j] == -1:
                          vertices.append(v0)
                          vertex_indices[i,j] = len(vertices)-1
                      if vertex_indices[i,j+1] == -1:
                          vertices.append(v1)
                          vertex_indices[i,j+1] = len(vertices)-1
                      if vertex_indices[i+1,j+1] == -1:
                          vertices.append(v3)
                          vertex_indices[i+1,j+1] = len(vertices)-1
                  
                      # add tri
                      i0 = vertex_indices[i,j]
                      i1 = vertex_indices[i,j+1]
                      i3 = vertex_indices[i+1,j+1]
                      triangles.append([i0, i1, i3])
  
                  # add tri 2
                  if max(d01, d03, d23) < dist_thresh:
                      # add vertices
                      if vertex_indices[i,j] == -1:
                          vertices.append(v0)
                          vertex_indices[i,j] = len(vertices)-1
                      if vertex_indices[i+1,j] == -1:
                          vertices.append(v2)
                          vertex_indices[i+1,j] = len(vertices)-1
                      if vertex_indices[i+1,j+1] == -1:
                          vertices.append(v3)
                          vertex_indices[i+1,j+1] = len(vertices)-1
                  
                      # add tri
                      i0 = vertex_indices[i,j]
                      i2 = vertex_indices[i+1,j]
                      i3 = vertex_indices[i+1,j+1]
                      triangles.append([i0, i3, i2])
  
          # return trimesh
          import trimesh
          mesh = trimesh.Trimesh(vertices, triangles)
          return mesh