If I understand correctly, colonization and the associated monetary lure led to the development of several racist theories as well as widespread prejudice against non-white peoples in Europe and the 'new' continents of America.

When the explorer from various countries left to find a sea route to the Indies, they were looking to cut out the (presumably rich Arab) middlemen in the trade of (presumably) good quality products they were already importing. I presume quality because of the massive efforts made to establish direct trade.

If they were looking for a place that is the source of luxury products for Europe, it is difficult to imagine that there might have been an existing superiority complex in the European perspective, particularly when talking about India or China.

What I am left wondering is that was there a time before all this (and if so when was it for different parts of Europe) when an Indian, Chinese (or more generally non-European) person would face curious looks but not discrimination? Be seen as different and foreign, but not necessarily inferior?

How were Indians, Chinese, Arabs, and Africans perceived in pre-colonial Europe? How would a visitor from one of these places be received in pre-colonial capitals of Europe, if they somehow got there?