swagger-codegen 3.0.19 fail with NPE for jaxrs-jersey when use securitySchemes

I upgraded from Swagger 2.0 to OpenApi 3.x and ran into issues around Security Schemes. I defined securitySchemes bearer but it is failing with NPE when generating code around generators.DefaultCodegenConfig.fromSecurity .
I recreated the issue with a very simple YAML file.
It generates code fine from swagger UI hence something to do with code-gen used from CLI.

Steps to reproduce:
swagger-codegen generate -i provided_swagger.yaml -l jaxrs-jersey

Error:

Operation: pingGet
Resource: get /ping
Exception: null
at io.swagger.codegen.v3.DefaultGenerator.processOperation(DefaultGenerator.java:932)
at io.swagger.codegen.v3.DefaultGenerator.processPaths(DefaultGenerator.java:831)
at io.swagger.codegen.v3.DefaultGenerator.generateApis(DefaultGenerator.java:470)
at io.swagger.codegen.v3.DefaultGenerator.generate(DefaultGenerator.java:782)
at io.swagger.codegen.v3.cli.cmd.Generate.run(Generate.java:369)
at java.lang.Thread.run(Thread.java:748)
Caused by: java.lang.NullPointerException
at io.swagger.codegen.v3.generators.DefaultCodegenConfig.fromSecurity(DefaultCodegenConfig.java:2714)
at io.swagger.codegen.v3.DefaultGenerator.processOperation(DefaultGenerator.java:921)
... 5 more

Simplified Security Scheme usage :

securitySchemes:
bearer:
type: http
scheme: bearer

security:

• bearer: []

security_issue_log.txt

openapi_security_issue.yaml.txt

Start with DefaultCodegenConfig.fromSecurity at the stack-trace location and reproduce the failure using openapi_security_issue.yaml.txt with the jaxrs-jersey generate command. Compare the securitySchemes and security entries with the generated output; done means generation completes without the NullPointerException for the provided YAML.