Have you compiled any SDL examples yet?
In the Qt OpenGL examples, I have noticed some of the examples seem to be plotting pixels directly to the screen, so hopefully OpenGL ES offers a clean way to port Seamless3d's native gui to other OSs same as SDL.
SDL sounds good so far, I hope it will be less challenging than Qt to get it to work on an android but until I have had some experience compiling SDL, I am in the dark.
So far I have only been able to take a quick glance at it. I noticed on a youtube tutorial on SDL, Visual Studio was being used which would make the process of porting much easier for me, as I am much more experienced working in Visual Studio than in Qt. However Qt is good in offering the same IDE to work with whether you are working in Linux or Windows.