Our world is not good to the poor, but we are not the first generation of humans to be at fault for this. In the Book of Sirach the author reminds his son that we are not to “rob…the poor man of his livelihood”, grieve him, anger him, exasperate him, and delay in giving to him, distress him (4.1-4). In v. 1 there is a poignant line: “…force not the eyes of the needy to turn away.” In v. 4 he tells his son not to turn away his face from the poor.
It is as if the author wants to make the point “Give to the poor and look them in their eyes.” Why? I think this humanizes the poor. I know when I see a beggar as a stop light and I don’t have change (or change I want to give) the first thing I do is avoid eye contact.
the archives near Emmaus 
I have experienced homelessness and its not a great experience. 12 months ago while on our honeymoon we walked past a begging lady on two separate occasions. Both times I had no cash to give her and walked by. Yet, I felt convicted and started to pray about what I should do…and I felt the Lord tell me to give her my time, sit with her, talk with her….
I was prepared to do so, but never saw her again. However since then, I have always been prepared to sit with and talk anyone I pass in the street…. I must also note that I also have done a fair bit of chaplaincy work at a men’s homeless shelter and indeed treating all with dignity and respect is key.