I had armhf environment and had a same issue, had confirmed following
patch works for me, so my suggestion is

1. compile without SOQT_DEBUG option
2. do not read gl.h for GLES environment

```
diff -r src/Inventor/Qt/SoQtGLWidget.cpp src.org/Inventor/Qt/SoQtGLWidget.cpp
1297,1301d1296
< #if defined(QT_OPENGL_ES_1) || defined(QT_OPENGL_ES_2)
< // gl.h included from glx.h defines GLdouble, which 
< // is already incldue in qgl.h for ESGL environment
< #define __gl_h_
< #endif
diff -r src/Inventor/Qt/SoQtRenderArea.cpp 
src.org/Inventor/Qt/SoQtRenderArea.cpp
164,165c164,165
< //#include <qgl.h>
< //#include <qapplication.h>
---
> #include <qgl.h>
> #include <qapplication.h>
``

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https://bugs.launchpad.net/bugs/791322

Title:
  soqt version 1.5.0-1 failed to build on armel

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