There is a great book, The Judgment of Paris: The Revolutionary Decade That Gave the World Impressionism by Ross King that compares Édouard Manet's Le Déjeuner sur l'herbe caused an uproar at the Salon des Refusés and another painting from the same year.
Manet's Le Déjeuner sur l'herbe and his Olympia are two nudes that caused major criticism in the 19th century. Here are links to articles about the two Manet paintings. They were both done after very famous nudes of the renaissance but the nude woman (same model in both cases) was brazenly staring out of the canvas at the viewer.
Grande Odalisque by Jean Auguste Dominique Ingres cause quite a stir earlier in the 19th century.