With two decades of operating hotels under my belt, I can tell you that you have very little to worry about. People assume they should be self conscious and the typical housekeeper appreciates that modesty but they honestly don't care.
After years of finding peoples sex toys, sex dolls, stashes of women's lingerie in a businessman's room or even worse, nothing really phases them. I can tell you that your best route is to take some smaller black drawstring bags with you and simply tie up the contents and leave it next to your trash bin. Keep in mind that there are many people traveling and staying the same places that wear for medical reasons and dispose of them openly in the trash, so even if you didn't do a good job concealing, the print probably wouldn't even be enough to get a second look. But if it's tied up and neatly next to your trash, no one will be the wiser because housekeepers try to avoid asking questions or investigating things that they don't want the answers to.
Lastly, don't forget to tip! I have had housekeepers that have mentioned long after the fact that they did something like pack up the gentleman's sex doll, her toys and lingerie and disposed of it all, because he left a good tip and a note saying sorry for the mess. So you have nothing to worry about, crinkle away at night and tidy up in the morning!