Fetch the contact relationship of an employee through REST API

Summary:

We need to fetch the emergency contact of an employee through REST endpoint. I am not able to figure out how to get hcmContactsUniqID of an employee. It does not support person number or person id as parameter as well.

/hcmRestApi/resources/11.13.18.05/hcmContacts/{hcmContactsUniqID}

The above endpoint gives all hcm contacts, however I am unable to get it for a specific employee. Is there a direct REST API available or any workaround to get this data?