No this is exactly incorrect. We do NOT perceive objective reality. All perception is subjective, and then goes through a further filter of interpretation. If someone says something is blue, there is no guarantee they perceive it the same as someone else. On top of societal pressure itself being able to change perception.
This is why in every scientific endeavor we try to take humans out of its as much as possible.
Do you realize we could both look at a red surface, both call it “red”, but for me it may look like blue looks to you? We would never know, because we grew up pointing at something and calling it red.
You are calling it “malformed perception”, but thats exactly my point: ALL perception is malformed. Humans are not capable of perceiving objective reality and the belief that we can is an issue at the root of many of societies problems.