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The 4th amendment applies to government officials and not the private security personnel that is typically hired by hotels. In order to determine if your privacy was violated here, you would first need to obtain a copy of the terms and conditions under which the hotel offers rooms out for stay. Those terms and conditions may have a clause that says that the hotel mgmt/security has a right to enter your room without your consent if there have probable cause to believe illegal activity is taking place on their premises.
So, the issue now becomes whether such probable cause existed. Also, you will need to see what it says about hours and times when house keeping may enter the room and report evidence of illegal activity if open and obvious.
If there was no probable cause here, then you may be able to sue for damages under an invasion of privacy tort.