NullReferenceException is thrown on Opening Render Pipeline Debug Window

Steps to Reproduce:
1. Create a new Project with 3D Template
2. Open Package Manager window
3. Find High Definition RP and click install
4. In Project window right mouse click > Create > Rendering > High Definition Render Pipeline Asset
5. Open Project Settings > Graphics > Scriptable Render Pipeline Settings slot > Drag and drop HDRP Asset to this slot
6. Create a Cube Game Object
7. Open Window > Render Pipeline > HD Render Pipeline Debug

Expected Result:
HD Render Pipeline Debug opens

Actual Result:
NullReferenceException: Object reference not set to an instance of an object exception is thrown

Reproducible on: 2019.3.0b8, 2019.3.0b7, 2019.3.0b6, 2019.0b5

Working fine on: 2020.1.0a10, 2019.3.0b4

Note:
1. 2019.2 and lower, HDRP as a package is not available
2. HDRP package introduced in 2019.3.0b4

Environment: Windows 10 and Mac 10.14

Stack Trace:
NullReferenceException: Object reference not set to an instance of an object
UnityEngine.Rendering.HighDefinition.FrameSettingsHistory.AggregateFrameSettings (UnityEngine.Rendering.HighDefinition.FrameSettings& aggregatedFrameSettings, UnityEngine.Camera camera, UnityEngine.Rendering.HighDefinition.IFrameSettingsHistoryContainer historyContainer, UnityEngine.Rendering.HighDefinition.FrameSettings& defaultFrameSettings, UnityEngine.Rendering.HighDefinition.RenderPipelineSettings supportedFeatures) (at Library/PackageCache/com.unity.render-pipelines.high-definition@7.1.2/Runtime/RenderPipeline/Settings/FrameSettingsHistory.cs:144)