If someone breaks into my house to steal food, yes I call the police on them because if there is any damage my homeowner's policy needs to know about it. Plus, the police can direct said person to a homeless shelter or food pantry to get the food they need if they can't afford it themselves.
No, if someone broke into my home and stole only food, I would not call the police if I caught them. Instead, I would take pity on them for taking only what they needed to survive. I would attempt to give them even more food if I were able. Everyone falls on hard times.