The adhesion of two cylindrical colloids to a tubular membrane is investigated theoretically in terms of the full treatment of Helfrich model. By analyzing the free energy of the system, it is found that this adhesion can produce both shallow wrapping with relatively small wrapping angle and deep wrapping with big wrapping angle. A second-order adhesion transition from the desorbed to weakly adhered state is found, and a first-order phase transition where the cylindrical colloids undergo an abrupt transition from weakly adhered to strongly adhered state can be obtained as well. Different relative positions between rigid cylinders and membrane tube will affect the phase transition and structure of the system.