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Ink/Stitch - An Inkscape extension for designing machine embroidery patterns.
Embird - Machine-Independent Embroidery Software
Crosti - make your own unique cross stitch design from custom image
EmbroideryStudio e4 - Fashion Design and Development
PCStitch - PCStitch is the most popular design tool for creating counted cross-stitch patterns available!
KXStitch - KXStitch is a cross stitch pattern editor by KDE.