No, not an insult. Why, when it's absolutely necessary to have a bag for collecting poo, there isn't one? Why, when it doesn't matter, is one's pocket full of the things, often bags sliding languidly to the floor when rummaging for keys, cards, cash…?
No social faux-pas here though whatever the circumstances, it's never particularly awkward; there are many dog owners out there with a similar sense of responsibility.
To avoid the embarrassment, the angst of returning to the scene of an 'incident' there has to be a better way of remembering allied to a better, more discreet method of poo bag concealed carry.