Hello Rene, this is an interesting question, my answer would be 'No', it's a time-honored and perfectly valid form of photography.
Any time my resolve weakens on this, I go here;
https://www.google.com/search?q=well+known+street+photographers&sa=X&tbm=isc...w=1366&bih=622
And before I'm 1/4 of the way thru, I'm rarin' to get back out.
Having said that, Street Photography isn't for everyone, from either side of the lens. As subjects, most folks don't mind, others tolerate it, and an occasional person will actively object. It's rare (in my experience) but does happen.
As the photographer, there's ways to ease into street mode, my favorite is public events. Street fairs, outdoor shows, concerts, almost anyplace where the public is encouraged to go, cameras go too. Museums and indoor events tend to be more restrictive about flash, tripods, even cameras themselves. Check first.
Then, take photos of everything you like, including the people. Everyone else will be doing the same thing, but you usually will have a better camera.
You can also try 'stealth' mode, clicking without raising the camera, with pre-set exposure. Sneaky, but it works, with practice. I hardly use it.
Generally, a smile and a wave are all that's needed, and that's only when they initiate the contact. As a last resort I would delete the photo, but that's never happened. Most times, they smile and wave back, perhaps somewhat embarrassed or curious, but unharmed in any way.
And I keep clicking!
Ron