Without a database backup it's going to be next to impossible to get the images back with the same ID's. The problems that see are how do you know which image matches up to which ID and how do you know what deleted ID is an image and what's a page/post/etc that's been deleted some other way? I can't see an easy way of doing this. It's going to be a long tedious manual job to add them all back in. And when you do, remember to take a full backup of the files and the database!
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