If you have gcc compiler you can use -I option.
From the manual :
-I dir: Add the directory dir to the list of directories to be searched for header files.
So for you it should be something like this:
g++ myprog.cpp -I /home/foo/ice/src -o myprog
But it is better to install the library, you should have some readme.txt or INSTALL file about how to do this..