Cameras handle worse conditions all the time. Chances are very good you just had condensation on the inside of your lens or on the sensor itself. Let it be for a few hours and try again. I wouldn't take the lens off yet, because if the sensor is wet from condensation you'll have a higher chance of having dust adhere to it. If it isn't clear in a few hours, let the gear sit overnight in normal temperature.

If you end up with an image that is still foggy then, remove your lens and see if you've damaged your lens by having condensation inside the barrel of the lens. If that's the case, it'll probably be time to replace it unless you happen to be under warranty (and they'll cover it).

If the lens is clear, or your images seem to have permanent marks on them, you may have gotten dust stuck to your sensor when it was humidified and need to clean it. I can highly recommend Sensor Swabs by Photographic Solutions. You'll have to verify which "type" your camera sensor needs. If uncomfortable with this, you may need to visit your local camera service center.