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I can set manual exposure like this (on windows):

cap.set(cv2.CAP_PROP_AUTO_EXPOSURE, 0)
cap.set(cv2.CAP_PROP_EXPOSURE, -6)

I believe the values are negative power of 2, e.g. -4 would be 1/16

I do however have issues turning on auto exposure. When getting the property value it always return -1