It's already clear, but this is always a really divisive subject!
I've never once encountered any trouble whilst shooting any street shots. If anyone notices me taking pictures I either look really confusedly at the back of the camera and then squint PAST the subject - this makes you look like a whacky tourist or just someone trying to learn how to use a camera...
I'll smile at the person, give a cheeky wave and if they're within earshot, I'll compliment their hat, scarf, accessory or just flat out tell them that they looked really interesting.
Unless you're openly harassing someone, the rules about what/who you can shoot whilst out in public are thin at best.
I also generally don't use my Nikon for street shots. I have a Fuji X-E2S that is conspicuous enough that you don't look like a threat with a bloody great DSLR. It's silent enough and small enough that if anyone notices me raising it to my face they might think I was just scratching my nose.