i don’t believe there’s anyway to derive from grey what the original color was, because grey has no color attributes
But you can make some educated guesses.
Some colors are well known. Barns were red because the ingredients for red paint were easily available
Some colors were rare and expensive during certain times in history so they can be ruled out for all but the richest people
medieval paintings and tapestries show the colors worn by kings and peasants. the tiles and mosaics of pompeii.
museums contain clothing samples. also graves.
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