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Sorry, but drawing and touchscreen are not really computer vision topics...
Otherwise you won't really need any library. Touchscreen works basically as a mouse. So, using your favourite framework (Qt, MFC, Java...) put a bitmap control with a bitmap on the screen, a mouse callback (onMouse(x,y,event)), and on mouse button down event change the color of the current pixel of the bitmap.
This is possible even in OpenCV, but as I said, it wasn't created for this.
