Lord Krishna in Bhagavad Gita abhors poverty. As per Lord Krishna the human form is the highest manifest stage in cosmic life cycle. Our soul atman manifested human form for the first time after crossing through 7.3 million manifestations in insect, plant and animal life. In the circumstances how could a human being be poor!
We are always poor in our intentions followed by deeds. We are never born poor. If we have taken birth in a poor family (poor from materialistic point of view) then all resulted from our indulgence of karma in past lives. On the ladder of evolution also we have to pass through various stages of sufferings and happiness. Only then we could evolve from within.
Pitying able-bodied human beings like beggars is a sin in itself. We are promoting their nonsensical cause. Instead of improving their karma, they are indulging in jobs like begging.
Wise people never donated or helped those able-bodied people who could improve their lives by indulging in good karma. Yes, if we desire helping people born poor but are genuinely honest, then Bhagavad Gita does not stop us from giving charities, donations to such people.
Poor in material wealth but otherwise honest and sincere must never be looked down upon.
Lord Krishna in Bhagavad Gita says one must indulge in charity only if we had abundance of material wealth. Helping others and sacrificing self interests is not a healthy practice.
Indulging in logic we must work out the needs of others. I have seen many in India who donated, helped poor only to maintain a status in the society. Such donations are meaningless.