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Ink/Stitch - An Inkscape extension for designing machine embroidery patterns.
Crosti - make your own unique cross stitch design from custom image
Embird - Machine-Independent Embroidery Software
Wilcom TrueSizer - Based on the same core software as Wilcom’s acclaimed professional embroidery design software, .
EmbroideryStudio e4 - Fashion Design and Development
Cstitch - free and open source program for creating cross stitch patterns from images