Changing in front of your kids

I'm conflicted on this one. Obviously at a young age is one thing, I'm not talking about a 5 year old showering with a parent or something. I mean as in, as your children grow up, do you think it's acceptable for them to see their parents naked? Do you think it's okay for girls to see their dads naked? And for boys to see their mom? I grew up seeing my mom naked all the time when she was changing or about to shower, and I never cared, it was just a body to me, but my dad never was naked in front of me. I actually feel like this made me even MORE curious about boy body parts. I never saw a penis until middle school when I saw some porn and I was SO freaked out. As you can imagine! I never knew a penis as a normal human body part, just a sexual part...whereas I viewed a vagina as just a normal part. I don't want my kids to sexualize nudity from a young age but I also don't want them exposed to things they shouldn't be. Opinions?