Is there a library that can do video streaming with a WebRTC enabled browser from a linux application (not from another browser)?
Yes, there is the WebRTC Native API. It is written in C++(some C in there as well) and can be compiled on Linux, Windows, and OSX. It also contains sample apps that are written in C++ that work on Linux that are able to make calls with a browser.
Checkout the getting started guide and try and build some of their example apps that run natively.
Have a look at this, its awesome https://github.com/ging/licode/
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