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I had Similar problem on ROS_MELODIC , ubuntu 18.04.

From What I read - moveit uses opencv 3.2. if there is collision between opencv versions it can cause it. The file he is searching for is an OpenCV 3.2 dynamic library (compiled file with a lot of fun inside...)

My solution -

I had OpenCV 2.4 and 4.5 on my machine. once I removed those I still saw under "pkg-config --modversion opencv" - OpenCV 3.2 (I think there were left over from ros opencv .so files)

1. I completely cleaned the other opencv versions (many tuts online) - which caused the removal of parts of rviz, moveit etc.
2. I reinstalled ros, moveit etc...

I WISH - I'd knew if there is a possibility to run moveit while other OpenCV versions are installed....