Is it sinful to captures pictures of others peoples(with no bad intention) without them knowing , like sometimes , taking photos of road and there are people standing or cars moving or random people laughing ? Obviously we can't ask everybody for taking their photo or photo of their house etc .please guide.

As long as these pictures are not used in a way that would hurt those people, it is permissible. It is not mandatory to ask them as long as they were in an open public space