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If your only concern is the missing folder, the camera app should recreate it the next time you take a picture. You can also simply put a folder on your sd card and name it DCIM. IF you are concerned about the contents of the folder, i fear there may be little hope of recovery. Android does not have a recycle bin. Since you deleted the files using a PC, a file recovery program like Recuva
may work as long as those sectors haven't already been written over.