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I was trying to mark points and draw lines or grids on point cloud data only where there is a tree from a rosbag, which was saved after running the SLAM algorithm on a bag file containing lidar data using cloud compare, Matlab or ROS environment.

Is there a way to do this?

Please ask for any further info needed.

some thing like this

Well, if you manage to load your cloud in CloudCompare, then you have the 'Trace polyline' tool that allows you to manually draw polyline on a cloud (and there's an auto-snap feature that might help). But it won't look as regular as that...

There's also the automatic section extraction tool that can automatically sample transverse 'profiles' along a trajectory. See https://www.cloudcompare.org/doc/wiki/index.php/Extract_Sections#Orthogonal_sections_generation