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wkhtmltopdf and wkhtmltoimage are open source (LGPLv3) command line tools to render HTML into PDF and various image formats using the Qt WebKit rendering engine. These run entirely "headless" and do not require a display or display service. There is also a C library, if you're into that kind of thing. The file pdf.h contains a fairly high level and stable pure c binding to wkhtmltopdf. These binding are well documented and do not depend on QT. Using this is the recommended way of interfacing...
This library contains utility classes such as a converter from plain text to HTML (for safe inclusion of user-supplied text into web pages, avoiding XSS attacks, etc.), converters from binary to hex representation, and similar functions