The Eyedropper can be accessed in the same way you access other custom colors.
- Select a preset color on the Toolbar and tap it again to bring up further options.
- Tap the "+" icon to add a new custom color or tap the colorful "color picker" icon to select a new color
- Choose the Eyedropper icon in the top-left corner of the pop-up window.
You will then see the Eyedropper appear. Hold and drag this to your chosen area, then tap "Done" to select the color.