CrazyBump creates displacement, normal and even fake occlusion maps from 2D images. It’s free, fast, sports a nice and clean interface, and makes an excellent tool to quickly take your textures to the next level.

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The software developer writes:
You’re welcome to use the beta for commercial work. Textures that you create belong to you. They aren’t restricted at all.
You can find the software, here. Also, questions can be directed to the user forum.
