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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
Cstitch - free and open source program for creating cross stitch patterns from images
PCStitch - PCStitch is the most popular design tool for creating counted cross-stitch patterns available!
Mach3 - Mach3 is very popular among the Hobby CNC community.