I recently wanted to play a DVD, where I only had the bare folder structure. KODI is supposed to support this, but its not working yet, so I ended up creating the dvd-image on my server myself.
This assumes, that you have stored the VIDEO_TS folder in my_dvd
# add an additional AUDIO_TS folder mkdir my_dvd/AUDIO_TS # create a iso from the folders genisoimage -dvd-video -v -o my.iso my_dvd/
Thanks to Ron999 in the Ubuntu-Forums