In this tutorial, I show you how to recover and fix dark footage. If you didn't get the proper lighting, or you are afraid the details of your footage are missing - don't panic.
The trick is to place the footage in after effects. Place on timeline. Make sure that the layer is set to "3D" with the checkbox.
Then, go to layer, select light. Make sure the light is set to ambient, and then dial up the intensity as you need.