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I doubt if that particular one was done in LaTeX's native "picture" environment, but it might have been done with TikZ running inside LaTeX.

Any vector graphics package can produce this kind of diagram: an excellent open-source one is InkScape, but Libre Office Draw is also good. Both can save a PDF vector image, which can then be cropped and combined with LaTeX math typesetting if needed, and the resulting PDF can be converted to a JPG or PNG. InkScape also saves in SVG graphics format by default, but I don't know if EPUB3 handles that.


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