Computer vision programmer for developing code for measuring the distances in an image.

The computer-vision system consists of a stereo-camera Intel D435 (ToF + RGB cams in one housing) and a computer running on Debian 9.5.
In the camera's field of view, there are few cylinders.
The camera is placed as shown on camera_placement.jpg.
The cylinders are randomly placed in a circle (cylinder_placement_1 _2 and border_circle.jpg). The circle is somewhere in front of the camera.
The system should determine the color of the pattern on their top circles and figure out a distance from the base coordinate frame to the cylinder’s grab point.
The grab point is a center of the cylinders top surface circle. All cylinders are equal and the dimensions are known (cylinders_shape.jpg). There are 4 types of patterns (cylinders_artwork.jpg and cylinders_CMYK.pdf).

The number of cylinders could vary from 0 to ~8-10.
There are csv, depth-colored png from ToF camera and color png from RGB camera available.
The program output are few (x,y,z,c), where x,y,z -- the coordinates [mm]; c -- color in rgb.
The program should be reliable and functional on a system without dedicated GPU and limited resources.