FYI, to install PyCuda in one line via pip, the following command has worked for me previously
sudo pip3 install --global-option=build_ext --global-option="-I/usr/local/cuda/include" --global-option="-L/usr/local/cuda/lib64" pycuda
This will build the extension, passing the required include and link directories.
Please let me know if this helps or you run into issues.
Best,
John