One thing that bothers me about the public perception of nudity is that it's automatically equated with sex. Nudity isn't the same as sex, nor is it necessarily sexualised. It's just the natural state of being. Personally, I don't have any problems with seeing other people naked, even people I find unattractive. It's their right not to wear clothes if they don't feel like it.
For myself, I alternate between being ashamed of my body and being reasonably satisfied with it. My measurements generally seem to support the hypothesis that I've got a good shape, but there are days when I just hate how I look and can't bear to see myself in the mirror. Even on my more confident days, I'd feel self-conscious naked.
Even so, if I was assured that nobody was going to be looking at me, I think I'd enjoy spending some time naked every so often. It's nice to sleep naked, for one, and I'd probably do it if it weren't for my godawful circulation. I have real problems with cold, to the extent that my fingers and toes sometimes go numb and blue even when I'm indoors. Nudity isn't really an option for me if I want to be comfortable and keep all my digits.