Install dependencies for pygame first:

$ sudo apt install python3-dev python3-pip python3-numpy libfreetype6-dev libjpeg-dev build-essential
$ sudo apt install libsdl2-dev libsdl2-image-dev libsdl2-mixer-dev libsdl2-ttf-dev

And upgrade pip and setuptools:

$ sudo -H pip install --upgrade --ignore-installed pip setuptools

Install the latest version of the luma.emulator library directly from PyPI:

$ pip install luma.emulator