If the frame is not bent or distorted in any way, then that dent is not enough to warrant any repairs. Although it could be straightened out, the drilling of holes, pulling/pushing action on the metal tube, etc. will weaken the frame, which then is dependent on the quality of the repair to restore the original strength. Even then, it will be very difficult to remove the dent such that it won't still be obvious where it was, in which case some filler will be required to hide it. So if this is being considered for cosmetics, then I would recommend just filling the dent as-is, instead of trying to remove it first.