If there aren’t any creases a soft hammer will
take the dents out. A solid rod may be a better
choice than a pipe for what your doing. You may
have to grind down part of the rod to get around
the crimp or if you do use a pipe cut a part of it
out.
Video Link-
https://www.youtube.com/watch?v=erYB7XHyhxU
A "Boathouse Repair" is one thats done without having tools or the skills to do it properly.