Just convert your image to YUV format and calculate the average of luma channel. Color conversion is a typical operation and any decent image processing framework supports it. For example, OpenCV (you said OpenGL, but that really doesn't have anything to do with image processing, I'm assuming you meant OpenCV) has CvtColor.
If you don't have such a framework handy but have access to the pixel intensities, you can use the equation:
Y' = 0.299*R + 0.587*G + 0.144*B
to get the luma channel, and then calculate the average. R, G and B represent the red, green and blue channels respectively.
EDIT
Note that it is possible that your camera will compensate for bright/dark scenes by modifying its aperture. This is camera-dependent, but I think most cameras do this -- otherwise your pictures can end up either saturated (pure white) or plain black -- in either case, useless. Human eyes actually do the same thing.
The downside is that's it's hard to tell whether you are in a dark or light environment just by looking at an image. In that case, you may have to go beyond the image and query the camera. In theory, you can do this either directly through a driver (unlikely) or perhaps by looking at the image metadata (e.g. with JPEG, there's EXIF).
Lastly, you haven't said what it is exactly you want to know the brightness of. If it's the overall scene, then average will be good enough. If it's some part of the scene, you may have to do something a bit smarter. Let us know if that's the case.