Will lock picking a door in plain sight affect relations with a town or npc

I was wondering can you lock pick a door while other people are around without this affecting your relationship with the town or people adversely. I noticed that if you want to steal something the item is labeled red STEAL but the locked door does not have any such designation. I would like to know if I should be doing this on the sly and not in the open. Thanks

Solution 1:

The problem with lock picking a door is not that people around it will notice, but that the people inside the building will do. They will awake and start to scream for the guards, possible running outside to fetch one for them. Without having stolen anything a bounty was put on my head...

I haven't seen an empty building so far, but I would guess that the guards will still come for you.

When doing any of these things I would really suggest you to do it in the sly.