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Laws vary considerably from country to country, however this discussion a photographers rights in New South Wales (Sydney) are by a photographer who is also a lawyer and examines the various issues from a legal perspective and brings up the many aspects of a photographers rights in a Western democracy.
Google “photography legal rights” and similar searches for your country to discover your rights in your country. It is wise to carry a copy of any relevant legal statutes with you when photographing the street as many police are unfamiliar with specific laws applying to photography and will often err on the side of caution rather than respecting your rights to follow your art.