If you're talking about photos or photo-like images, Android resizes those fairly well and does a fair job of avoiding unpleasant image artifacts because it uses very accurate rescaling methods.
Anything you expect to be "pixel-perfect" like a 2px-wide line in the image is simply always to be somewhat blurry in a resized result. For those types of images, you'd want to generate different resolution versions of the images in the drawables-* (or mipmap-*) folders and keep in mind the relationship between screen density and pixels.
- MDPI is 1:1
- HDPI is 1.5:1
- XHDPI is 2:1
- XXHDPI is 3:1
- XXXHDPI is 4:1 (and something you're unlikely to find right now)
...so if you wanted a 1px border in an image that's to be displayed on an XXHDPI screen, in the drawable file that line would need to be 3px wide. The good news is that since these downscale and upscale quite accurately, under most circumstances, an image from drawables-xxhdpi will retain a perfectly clean edge when downsized to all the others (except HDPI, because 1.5) and an image from drawables-mdpi will upscale decently as well. Android will do the best it can at picking an appropriate image to upscale/downscale from the drawables/mipmaps folders when some are missing (i.e., you might not need to populate all of them).