Finally able to fix the issue with help of this link
ImageView[] Images = new ImageView[cards.length];
for (int i = 0; i < cards.length; i++) {
Images[i] = new ImageView(this);
RelativeLayout.LayoutParams params = new RelativeLayout.LayoutParams(
RelativeLayout.LayoutParams.WRAP_CONTENT,
RelativeLayout.LayoutParams.WRAP_CONTENT);
if (i != 0) {
params.addRule(RelativeLayout.ALIGN_TOP, i-1);
params.addRule(RelativeLayout.ALIGN_LEFT,i-1);
params.leftMargin= 40;
Images[i].setImageBitmap(BitmapFactory.decodeResource(getResources(), cards[i]));
Images[i].setId(i);
layout.addView(Images[i], params);
} else {
Images[i].setImageBitmap(BitmapFactory.decodeResource(getResources(), cards[i]));
Images[i].setId(i);
layout.addView(Images[i], params);
}
}