Should nudity really be considered taboo and shameful?

I am a nudist while I am home by myself. I do not understand why society has this huge stigma attached to nudity. I guess its probably because we are conditioned from basically birth to see nudity as a negative and even shameful thing. Why is it that we are the only animals that feel the need to not show certain parts of our bodies? Its especially confuses me that you can actually serve prison time for being nude in certain circumstances. I see nudity as the most beautiful and natural thing there is.