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/usr/bin/amf-to-stl is in slic3r 1.2.9+dfsg-9~deb9u1.

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#!/usr/bin/perl
# This script converts an AMF file to STL

use strict;
use warnings;

BEGIN {
    use FindBin;
    use lib "$FindBin::Bin/../lib", "/usr/lib/slic3r/";
}

use File::Basename qw(basename);
use Getopt::Long qw(:config no_auto_abbrev);
use Slic3r;
$|++;

my %opt = ();
{
    my %options = (
        'help'                  => sub { usage() },
        'ascii'                 => \$opt{ascii},
    );
    GetOptions(%options) or usage(1);
    $ARGV[0] or usage(1);
}

{
    my $model = Slic3r::Format::AMF->read_file($ARGV[0]);
    my $output_file = $ARGV[0];
    $output_file =~ s/\.amf(?:\.xml)?$/\.stl/i;
    
    printf "Writing to %s\n", basename($output_file);
    Slic3r::Format::STL->write_file($output_file, $model, binary => !$opt{ascii});
}


sub usage {
    my ($exit_code) = @_;
    
    print <<"EOF";
Usage: amf-to-stl.pl [ OPTIONS ] file.amf

    --help              Output this usage screen and exit
    --ascii             Generate ASCII STL files (default: binary)
    
EOF
    exit ($exit_code || 0);
}

__END__