People in the streets of Caracas reacted Friday to Nicolás Maduro being sworn in as president of Venezuela for a third consecutive term. (AP/ Juan Arraez)

Maduro’s inauguration seals an election outcome that opposition politicians and the US government say was stolen.

Today, Maduro officially violated the constitution,” María Corina Machado, the popular opposition leader who was briefly detained yesterday, said in a video posted on social media in the afternoon. She called on Venezuelans to take to the street to protest.