What type of data do you have? Are they an image format or other format? There are many tools available, such as ITK, and Matlab's built in image handling library.
It's a full-blown 3D / CAD / animation app, but it's super light and efficient, so I use it for everything from simply rotating an image, to full 3D CAD of humanoid robots, and computer animations and everything in between.
You can put the images on rectangles, you can make them semi-transparent etc.
You can add the coordinate systems etc. (as other images, or as 3D models), render high-res anti-aliased images, you can save the 3D model as a COLLADA file and so on.
I'd be happy to help you set up a basic 3D scene for your images.
You could try ImageJ or Fiji to do the job. This is an opensource software giving very good results with a big community to help you. This is the link for the software: http://imagej.net/Welcome and also a link for a quick tutorial might interest you: https://www.youtube.com/watch?v=2N7i_gGYGLQ
If you want to opt for a solution in R, you could consider the plot3d package. Look at the examples on page 14 of this document: https://cran.r-project.org/web/packages/plot3D/vignettes/volcano.pdf
What they are doing there is very similar to what you want to achieve, right?
Hope you will find a solution that works best for you...