"what Bosch-like picture"

Hieronymus Bosch (1450-1516) was a Dutch artist best known for his teeming multi-panel depictions of biblical and apocalyptic scenes.  The piece that would have most relevance in this case is probably the Garden of Earthly Delights which, while quite coy in its depiction of sexual activity, is full of naked people of both genders enjoying sensual pleasures.  Details from the picture are shown below; click here for a large image of the whole scene.

Detail from the Garden of Earthly Delights
Public DomainDetail from the Garden of Earthly Delights
Detail from the Garden of Earthly Delights
Public DomainDetail from the Garden of Earthly Delights