Actually, it gets worse than just color.
We tend to think that we're perceiving something a bit like a continuously running HD movie.
This is false. Our actual awareness comes in fits and starts. Our visual cortex (at least) edits our memory to create the illusion of continuity out of a fairly jittery and wildly incomplete set of blurry pictures. Our total awareness, our attention if you will, the gestalt of touch/taste/smell/vision/sound that we suppose informs us about the world, is woefully sporadic. Even when it's genuinely working, it is focused on a much smaller area than we think. Ask a pickpocket about human awareness, about "attention".
Our sensorium gives us a model of the world as if seen through a cardboard tube with a nylon stocking stretched over the far end. We build the notional HD movie out of that. The wonder is not that the HD movie is sometimes wrong, the wonder is that it is ever right.
They're talking about veridical perception, which as I think they're formulated it is really about 1-to-1ness with reality. It doesn't matter if what we actually perceive when we are confronted with a tiger, the point is that we reliably perceive tigers AS tigers, and we don't perceive other things as tigers. Clearly we don't. A photograph of a tiger isn't perceived as a tiger per se but there's definitely some tigerness in there someplace. We don't perceive it as merely a glossy piece of paper (which the tiger probably would).
The ideas of umvelt and umgebung have been around for ages. The conceit is, sometimes, that this only applies to animals but humans, being somehow special, perceive things as they truly are. This sort of exceptionalism is laughable.