Getting SAML assertion via API

Questions SAML
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Hi, I need some help in next question:

I use SAML 2.0 protocol to login users into the app.
Also I use Okta SAML Toolkit for Java.
Right now for receive assertion from Okta I use next flow:

  1. Redirect to Okta authentication url,
  2. Okta sends me post request to my Single Sign On URL, which contains assertion object.

I want to receive the assertion object in one thread via rest API. Is it possible?
The case is - I want, that user automatically being authorised, if they authorised in Okta, without redirect.

(User sends some rest query - system authorise in Okta and receive him data)

Thanks in advance!

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