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The History of Printing Graphics
There used to be even in early Unix's there was a program that provided some basic graphical output on things like Printronics printers. The next technology was the dot matrix printer where there were an array of dots that would be printed across the page. Back in those days it was sort of a big deal that you had to have a separate driver for every different kind of printer and so on because they all accepted their data in different ways.