Thermal camera MLX90641 interfacing with rpi4

Hi Seed Team,

We do not have I2C hub. So, we are not understanding which PIN to connect SCL & SDA to rpi4.

Please specify physical pin, as well as GPIO pin number to connect thermal camera to raspberry pi4.

We refer below link,

Install all things, but, it is showing connect to I2C hub.

You may look here:

SCL goes to Pin 5 / GPIO 3
SDA goes to PIN 3 / GPIO 2
VCC goes to Pin 4 / 5vPower
GND goes to Pin 6 / Ground

Seed studio already told , shield is needed to interface this camera. Can we interface this without shield?