There might be many causes to this problem. The key is to use
export QT_DEBUG_PLUGINS=1
before you run your Qt application. Then, inspect the output, which will point you to the direction of the error. In my case it was:
Cannot load library /opt/nao/plugins/platforms/libqxcb.so: (/opt/nao/bin/../lib/libz.so.1: version `ZLIB_1.2.9' not found (required by /usr/lib/x86_64-linux-gnu/libpng16.so.16))
But that is solved in different threads. See for instance https://stackoverflow.com/a/50097275/2408964.