Yes, the trick is to look a little aside, say at her flank, so you dont stare in her eyes. Home cats can do so, but amongs ferales it is hostile.Also- when you said you stared at her, remember in the feral world, a direct stare is a challenge. She may not be truly feral but she's been part of that society.
Good luck and thank you for helping!
You can try and show some friendly signs, like look at her with half closed eyes.
Or yawn. Or standing on all fours, yawn broadely. (so cats yawning or streching themselves arent sleepy, usually they do so to their human or cat pals).
Talk also a lot with friendly voice, make friendly soft noises.
Moms talk so to their babies, also friendly toms court so. These non friendly toms just takes what you saw yourself.. So the surely know whom try to be friendly, and who doesnt even bother.
When you have her in, plan for a quite soon vet visit. Check up, but also spaying, you dont want a new litter.
Good luck!