Okay,
you mentioned 3 things here:
a. Holding steady and framing from the hip
b. aperture / shutter speed
c. general Street shooting.
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a. If you do not have a steady hand, then don't shoot from the hip. Or get a film camera with a hip viewfinder eg. Yashica T4. or even the Horizon 202 panoramic camera.
b. Aperture and shutter speed. Either an aperture priority camera like Olympus XA. But you know, learning Sunny 16 isn't that hard. Or come to the worst, pick up a lightmeter off ebay. Selenium types are like <25 usd.
c. But if you want to shoot street, the above a. and b. while important isn't that critical, what defines street shooting with a rangefinder from all the other SLR wannabees...is how to focus without raising the camera to the eye level....
here's how you do it...
See attached picture. This a typical rangefinder lens.
See the top ring from the right, that's the aperture ring, assuming a bright sunny-16 day, you would use an aperture of f/16.
See the triangle on the ring from the left, this isn't really a ring but it has several DEPTH OF FIELD markings identical on the lens on either side, 16 11 8 5.6 4 2V2 4 5.6 8 11 16.
The next ring is the focusing ring, there is Metres and Feet.
Modern cameras do not have the DOF markings on the modern lenses, even prime ones too.
Here I am going to make several assumptions:
Assumption#1 You shoot Street, subjects are around 3 to 10 or more metres,
Assumption#2 Assuming you are using F16, in this example
Move the focusing ring so that the Infinity marking rests on the DOF marking of the same number as the Aperture setting. ie. Move the Infinity symbol ontop of the 16.
Find the Distance markings that rests on the other side of the DOF ring. In this example, at f/16, it sits somewhere between 2 - 3 metres, eg. 2.5m.
This means, if you are on f/16, then by moving the focus ring to rest the infinity on the f16 on the DOF ring, THEN anywhere between 2.5m to Infinity, it will be focused. Of course, different lens is different. But the method is the same.
With this method, you solve focusing on moving objects, you are also able to conceal it without raising the camera to your eyes.
This is the gist of Hyperfocus distancing.
hope this helps.
raytoei