i have no idea how to calculate calories burned

I just did a Billy Blanks cardio dancing video. I did a 5 minute warm up, 10 minutes of disco style, 2 minutes toning of arms, 10 minutes of African style, 2 minutes of leg toning and 5 minute cool down. My heart rate was up but I have no idea how to log my calories. Anyone able to lead me in the right direction?

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