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I fail to see the problem?
The three second rule is for you, not her. It's to stop you from getting anxiety, not her. As long as you weren't sitting there staring at her for 10 minutes, giving her creepy "I want to fuck you" looks, there really isn't a big deal. You're only allowing anxiety to set in.
If she doesn't see you, how can she know you've been in there for 5 or 10 minutes? For all she knows, it's the first time she has seen you and you could well have been in there for three seconds prior to initiating the chat.
It's all technicalities. Personally, I wait to make eye contact before I approach. You know there is some level of interest if you catch her looking your way.
But in regards to your question, just because you didn't approach within three seconds doesn't mean you're a creepy rapist.
I will be honest, I do stare. not for 10 minutes, but like I am staring at her and as soon as she looks, i look away, pretending that i wasnt staring. so that's why i feel like a creepy rapist when i am about to approach because she will think "oh, its that creepy guy that kept looking"