You should try exporting your xfig diagrams to eps, opening them with gv, taking a screenshot with the GIMP, and saving that as a PNG. While xfig's rasterization is terrible (so the fonts and lines come out ugly), you can use a better rasterizer. It's much more UNIXy to chain together 3 tools than to hope a single tool will do good things all the way through (although one could wish that these tools were more amenable to automation...).
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