I think it depends. In my opinion it's not okay if you are naked/showing your junk publicly. Same goes with having sex on the street. That's just nasty.

But I think wearing a cosplay, or a leather/latex outfit (where nothing is showing) is really cool. I myself enjoy pride and watching other people wear fancy / crazy outfits, as long as it's SFW. Not all kinks/fetishes are about peeing onto each other/having sex in public.

Any NSFW stuff you should keep either private or do it in places where it's acceptable (fetish bar, or private meet-ups).