While it's difficult to say with absolute certainty that nothing will come of this, this does seem the likely outcome. First, if you just picked up an item "laying in the street", there's no obvious crime involved, such as a theft. Second, you were not arrested. If law enforcement felt a crime had been committed, you likely would have been arrested at that time. Third, it appears you were not even given any paperwork or anything indicating a court date was being set.
If you are truly concerned and want to be proactive, you can call the police department that handled the matter tomorrow during normal business hours, they should be able to tell you if there is any type of on-going investigation.
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