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I use CherryTree (it's basically an open source free offline equivalent to OneNote or Evernote). It can do tree structures and links to other sites (so basically an offline wiki) and graphs/pictures/tables can all be added and/or pasted into.
What are you using for heraldry pictures? Have you tried Armoria?
Having notes mapped to images/a map is definitely something I want to do. There's a plugin that might fulfill your specific use-case (and might also satisfy me): https://github.com/valentine195/obsidian-leaflet-plugin I have not tried it out, and can therefore not tell you how it works. I fear though that there's a note per map, and not a map that links to multiple notes (which is what I'd want). But as I said, I'll have to try it out to see.