PocketSphinx 5.0.1 is now released. This is a patch release which fixes a number of bugs and documentation errors in PocketSphinx 5.0.0. See the link above for more detail.
Download source from GitHub or PyPI. Yes, these are not exactly the same file.
Install binaries for Python:
pip3 install pocketsphinx
Read the API documentation for C and for Python3
Pull requests and bug reports and such are welcome via https://github.com/cmusphinx/pocketsphinx.