[REQUIRED] Environment info

firebase-tools: 12.4.8

Platform: all

[REQUIRED] Test case

Emulate a local extension with no params listed in extension.yaml - it will error with 'cannot read property filter of undefined'.

The offending bit of code is https://github.com/firebase/firebase-tools/blob/master/src/extensions/emulator/optionsHelper.ts#L92

[REQUIRED] Steps to reproduce

Emulate a local extension with no params listed in extension.yaml - it will error with 'cannot read property filter of undefined'.

[REQUIRED] Expected behavior

Should be able to emulate extensions that have 0 params.

[REQUIRED] Actual behavior

Error out with 'cannot read property filter of undefined'.