And those same people would be regarded as "judgmental" if they leaped to the conclusion of guilt. Do we have statistics that "most people" are "judgmental"? I'm unsure on that one, but anyone judgmental would not be a good friend to keep regardless of wether you have skeletons in your closet or not.
I'm late to this thread, but think that most others have said what I would say - If they don't bring it up and continue to come around, then the likelihood is very high that they were not offended or concerned about your play things and require no explanation. If either brings up the topic then feel free to give them whatever details you feel comfortable sharing, but mostly how the lifestyle has been positive in your life. Be sure to focus on yourself and not others since that might be construed as a way to bring them into the lifestyle. By all means, let them make that decision all on their own.