What you need is "GIS" software.
https://en.wikipedia.org/wiki/Geographic_information_systemSuggestions for it are: QGIS (open source), GlobalMapper (Big fan) or ArcGIS (not a fan)
Obviously there are other GIS packages out there. But most come at a hefty purchase cost or expensive annual charges.
QGIS and GM are both very good in what they do and whilest QGIS is free to use, GM costs a relative small amount. Both have their pro and cons but for map making I'd suggest QGIS. Also since it's open source and the documentation is thorough.
With these program you can make dedicated maps, the ones you speak of, with automatic legendas, North Arrows, scale bars etc etc etc.
Although I believe Photoscan is working on these things as well. You could try the latest Photoscan Pro version and see whether it has what you need. I believe they've so far incorperated a height and scale bar.
Mind you that the learning curve for these kinds of software is very steep. It is for a reason that there are uni/college studies just for this subject.