I'm a practising nudist and use every opportunity to enjoy nudity, but I also try to respect other people in my environment and consider the situation I'm in. I would feel totally out of space walking naked among clothed people. In that case, nudity stops being an enjoyment for me, but rather an unpleasant situation. On the other hand, I think we all connect nudity with relaxation and freedom.
Similar for San Francisco and I believe Barcelona - most people in those cities aren't shocked by public nudity and in the case of frisco sexual nudity but why anger people and turn public sentiment against yourself?
I'm of two minds about the whole thing. One, I agree about not turning public sentiment against nudity (more than it already is) and, two, I think that society -- and naturists/nudists -- are unconscionably hypocritical about public nudity.
Consider the World Naked Bike Ride or a Spencer Tunick photo shoot. Most of the folks involved are naked and it isn't a big deal for either the participants or for the spectators. Even in the USA the WNBR happens without public backlash. In Portland, OR it is a civic tradition. So if mass public nudity is okay, why isn't it also okay for individuals or small groups?
The answer is -- I think -- that numbers are self-validating. As well, they provide an aura of protection.
Consider the following general reactions of textiles meeting naturists:
A lone male naturist is often considered to be a pervert; two male naturists together are considered to be a gay couple; three or more together and the bigoted epithets no longer have much traction.
A lone female naturist is a slut and a potential rape victim; two female naturists together is an opportunity for photos and harassment because, self-evidently, they're Lesbians; three or more together and even Dwayne & Bubba back off.
A male-female naturist couple is looked upon with envy by men and women alike -- they might not admit it but I've seen it in their eyes; two or more couples begins to look like an organized society and a larger mixed group is basically fireproof because, well, they probably have a lawyer.
That's the way I see it on most occasions. Your experience may differ