Do you mean "different countries" as in countries other than yours, or as in wacky fantasy maps of made-up places?

Why would it be illegal to map other countries? Although maps in the way we understand them in a modern context were rare from the period, we do have several examples of maps from the period you describe, the most famous of which is probably the 13th Century Mappa Mundi or World Map now at Hereford Cathedral which you can see here.