How to plot ellipsoids with their rotations?

Dear All,

I have a point cloud and variance-covariance matrix (EXX which is 3x3) of each individual point in the point cloud. I need to plot error ellipsoids of each point. Using eigenvalues and eigenvectors of EXX belongs to each point I can calculate all parameters required to plot the ellipsoids. However, I do not know how to plot ellipsoids with their orientations. Can you please help me about plotting ellipsoids with their orientations? By the way, center of each ellipsoid has to be coordinates of the corresponding point. I appreciate for helps,