What is the meaning of "I saw you walk in the street" when using infinitive form (walk)?

If I want to say to someone that I saw him (for example while I sit in the bus) in the street, then I would say

"Jon, I saw you while you were walking in Manhattan street"

But I have other options that I'm not sure about their meaning nor correctness:

• "Jon, I saw you walking in the street of the center"

• Jon, I saw you walk in the street of the center"

What is the meaning of "I saw you walk in the street" when using bare infinitive form (walk)?

If I want to say to someone that I saw him (for example while I sit in the bus) in the street, then I would say

"Jon, I saw you while you were walking in Manhattan street"

But I have other options that I'm not sure about their meaning nor correctness:

• "Jon, I saw you walking in the street of the center"

• Jon, I saw you walk in the street of the center"