I am not a lawyer
But I don't think you have done anything illegal... (though that kind of activity may well be illegal in DPRK / China / Singapore)
There is a small risk that one of the hosts you identified would realise they have been scanned and seek to find out who did it and then try to gain recompense for privacy issues, but I suspect that possibility is so remote as to be negligable.
Also, you may have broken the terms of your agreement with the ISP. I have no idea whether your ISP bans scanning for hosts or even port scanning, but many of them have general anti-hacking clauses.
A single, 'accidental' occurrance probably won't get noticed, but any more 'accidents' might increase the chances of you being identified (fingered?)
When I stay in hotels or at conferences my laptop will often pick up hundreds of hosts on the same network, without using any of those specialised tools. If people choose to join public networks with no security or privacy protection, some would argue that it is their own lookout.
More info here:
https://nmap.org/book/legal-issues.html