I attempted to use this HCB technique with the 40 pancake lens on my T2i and walking around the city streets in a trendy district of Portland, OR on a cloudy day. I switched off the autofocus and used the zone focus method. I got a lot of blurry images from camera motion. I probably should have used a higher ISO and shutter speed.
I also noticed that a few people gave me dirty looks.
My second attempt at street photography was in the busy central courtyard of a local college at noon on a sunny day. I put the 55-250 (stabilized) lens on my T2i. I was able to sit on a decorative boulder and photograph people in the courtyard from a considerable distance without any problem. About 80% of the images looked good. I did not keep the camera on any one person too long, but I noticed when I reviewed the photos at home that some of my subjects were looking right at me.
Street photography is not a simple thing. I imagine it gets easier with experience.
I've never been hassled by anyone when I am photographing buildings, scenery or pretty models outdoors.