I just stumbled upon this. It is an interactive demo showcasing the differences between normal mapping, parallax mapping, and relief mapping. It enables you to switch between the three while viewing the same scene. From what I understand, you can also place your own diffuse textures with their corresponding normal map, and it will show you how it appears on different surfaces (cube, cylinder, etc). It was created by Fabio Policarpo, who is an author that has written many books about programming (mostly shaders). I found it rather useful.
http://fabio.policarpo.nom.br/files/reliefmap4.zip
EDIT: Just realized his latest one doesn't include a cube. You can download the previous version here: http://fabio.policarpo.nom.br/files/reliefmap3.zip, and then just copy the .P3D files into the latest version.