I find this passage from tvtropes to be helpful in situations like this:
"Depression is basically your own mind giving you one of these [The Reason You Suck Speech] all the time."
And it's true. Through no fault of your own your mind has software bugs that basically make it focus on the things about you that you find less than perfect, and inflate those things until they seem to be disgraces for which no amount of ridicule is too much.
I found it very helpful to realize that that voice is full of shit. I'm not sure what else I can say that will help you, because I don't know any particulars about your situation, but you can make a lot of progress by remembering that voice is about as in touch with reality as a Best of Bobby Kotick montage.
It sucks to have to spend effort reminding yourself not to be persuaded by those thoughts, but it's still quite possible to recover from it.
When people distrust you, such as that guy who thinks you're a thief (did he say that, or do you only think he thinks that?), is it because you've actually engaged in dishonest behavior or is it because you have such low self-esteem and confidence that you are merely anxious in public and people mistake that for actual guilt or evasiveness?
For a long time I've had a problem maintaining eye contact with people, especially women, and would look away whenever someone looked at me. Eventually I found out that that only creeps them out more, so I've been trying for a while to force myself to maintain eye contact and smile. It's hard as hell sometimes and feels completely unnatural but that's what people expect, and deviation from that makes you a creep in their eyes. So yeah, people can easily get the wrong idea from whatever quirks you have. You just have to learn what normal is and try to emulate that.