Listener (Marsha) / Unknown

I go into Philadelphia once in a while to visit my friend, and I will often pass by homeless people on the sidewalk or leaning against a building.

I'm uncomfortable just passing by without making any eye contact.

But I also often am not in any position to give them any kind of a donation or help.

It seems rude to walk by, and yet I'm not sure how it would feel to look them in the eye or acknowledge them and then continue to walk on.

What's the best way to handle this kind of a situation?