I've spent a lot of time in the theater, so I have no hang-ups about getting changed in front of people. Male or female, it doesn't really matter to me because it's a functional act and not a sexual one. There have been plenty of times when I've walked off into the wings and just had to do a quick change in front of the rest of the cast and crew. Nobody bats an eyelid. Nobody cares.
I'll also often walk around the house naked, or just in underwear, and I'm completely fine with that in front of my lover. However, if my friends or family come over I'm at least going to throw on a dressing gown! I can get changed in front of them, and can wear the t-shirt-&-underwear bedwear ensemble, but I don't hang out naked with my friends.