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Crosti - make your own unique cross stitch design from custom image
Ink/Stitch - An Inkscape extension for designing machine embroidery patterns.
Wilcom TrueSizer - Based on the same core software as Wilcom’s acclaimed professional embroidery design software, .
Embird - Machine-Independent Embroidery Software
Cstitch - free and open source program for creating cross stitch patterns from images
Mach3 - Mach3 is very popular among the Hobby CNC community.