Restore InnoDB tables / database using only data files
Unfortunately, there is really not an easy way to get this table back. Although the data is likely still in the ibdata1 file, only specialized tools can recover it. If this data is business critical, some consulting companies such as Percona can help you to recover it, but that will be quite expensive (thousands of dollars at least), and not all of the data may be recoverable.

If this data is important to you enough to spend the money or time recovering it, save a copy of the ibdata1 file immediately as the disk space will be more likely to be re-used the longer the server is running.