I have some simple SVG artwork (icon and glyph kind of things) which I want to display in an OpenGL app (developing in C++ on Debian, using Qt).
The obvious solution
It looks like Inkscape has some interesting export options you may find useful. They include DXF, PovRay, EPS, PS (PostScript), XAML, Latex and OpenDocument Drawing (ODG). Perhaps there is a converter for one of those and you could use Inkscape as an intermediary.
DXF in particular is a likely candidate since it is a common 3D format already. assimp is a good candidate for loading DXF.