@nuralamsiddikashik– this is doable with Piklist. That field is essentially a radio field, but you select images instead of text.

You probably want your field to look something like this:

  piklist('field', array(
    'type' => 'radio'
    ,'field' => 'my_icon_picker'
    ,'value' => 'first'
    ,'label' => 'Choose an icon'
    ,'list' => false
    ,'choices' => array(
      'icon_1' => '<img width="28px" src="http://my-first-image.jpg" />'
      ,'icon_2' => '<img width="28px"  src="http://my-second-image.jpg" />'
      ,'icon_3' => '<img width="28px"  src="http://my-third-image.jpg" />'
      )
  ));

If you have an array of the icons with their urls, you can populate the choices array automatically.

Hope this helps.