Since you used the word "sinful"; it occurs to me that this question has firm roots in religion - that is, moreso than philosophy. So I'd have to say that it depends on your religious beliefs. I think that if you're a devout Christian (and probably most other religions) then viewing naked people or people having sex for the sake of your own carnal pleasures would be considered "sinful". If you were to ask me if it is morally wrong or just "wrong" then I'd probably say no.
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My life's work is to bridge the gap between that which is perceived by the mind and that which is quantifiable by words and numbers.
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