No, though at the same time, we really don't know how it started. Zwarte Piet seems linked to krampus and other midwinter festivities, where people would soot up their face to become unrecognizable, but it's a lot of folk tales mixed into one, so it's kind of guess work as to the exact progenitor. Most people agree modern Sinterklaas started around 1850, at which time interestingly it was starting to get overtaken by modern Christmas, which is an evolution of Sinterklaas. To combat this, modern tales of Sinterklaas were created and written down, and the most popular one was by Schenkman, a teacher/ children book writer from Amsterdam. He wrote about Sinterklaas having a black helper boy. The reason why this boy was black Schenkman sadly never talked about, so we honestly don't know. There's some circumstantial evidence that Schenkman was at least close to the abolitionist movement and consequently it is somewhat plausible Zwarte Piet might have actually been included to show black people are kind-hearted, as a kind of progressive statement. Then again, or corroborating this, depending on how you look at it, Schenkman did posthumously publish something on the minstrel shows, saying that he didn't mind white people dressing up as black, because so many men of e.g. the clergy had white skin but black hearts. Which obviously by today's standards is a fucked up thing to say, but at that time was probably considered pretty progressive. Anyway, so the people who would normally make themselves unrecognizable by dressing up like Sinterklaas or sooting up their face now wanted to dress up like a black boy, and I guess as minstrel shows became more popular, so the blackface became the way to go, a caricature of black people based on slavery. And there we are. A hundred years later the majority of the country claiming it is not racist and it has nothing to do with the US or slavery. The origin might be neutral or even relatively benign, that's not what it became pretty quickly.