You can sample colors by using the Eyedropper tools available throughout the application.
Click the Eyedropper tool in the Toolbox. Point to a bitmap or a vector object to sample colors.
Click the color you want to sample, and then click the object (or outline), you want to fill with the sampled color.
Hold down Shift to switch between the Color Sampling mode and the Apply Color mode of the tool.
The colors are added to the Document palette.
You can re-populate the Document palette before you start your work.
Click the Eyedropper tool on the Document palette. Hold down Ctrl, and click the image to add all the colors you want.
Drag colors from the Document palette to your drawing.