BigQueryIO fails cryptically if gcpTempLocation is set and tempLocation is not

The following error arises when running a pipeline that uses BigQueryIO with gcpTempLocation set and tempLocation not set. We should either handle this case gracefully, or throw a more helpful error like "please specify tempLocation".

```

2019-12-24 13:06:18 WARN UnboundedReadFromBoundedSource:152 - Exception while splitting org.apache.beam.sdk.io.gcp.bigquery.BigQueryQuerySource@5d21202d,
skips the initial splits.
java.lang.NullPointerException
at java.util.regex.Matcher.getTextLength(Matcher.java:1283)

at java.util.regex.Matcher.reset(Matcher.java:309)
at java.util.regex.Matcher.(Matcher.java:229)

at java.util.regex.Pattern.matcher(Pattern.java:1093)
at org.apache.beam.sdk.io.FileSystems.parseScheme(FileSystems.java:447)

at org.apache.beam.sdk.io.FileSystems.matchNewResource(FileSystems.java:533)
at org.apache.beam.sdk.io.gcp.bigquery.BigQueryHelpers.resolveTempLocation(BigQueryHelpers.java:706)

at org.apache.beam.sdk.io.gcp.bigquery.BigQuerySourceBase.extractFiles(BigQuerySourceBase.java:125)

at org.apache.beam.sdk.io.gcp.bigquery.BigQuerySourceBase.split(BigQuerySourceBase.java:148)

at org.apache.beam.runners.core.construction.UnboundedReadFromBoundedSource$BoundedToUnboundedSourceAdapter.split(UnboundedReadFromBoundedSource.java:144)

at org.apache.beam.runners.dataflow.internal.CustomSources.serializeToCloudSource(CustomSources.java:87)

at org.apache.beam.runners.dataflow.ReadTranslator.translateReadHelper(ReadTranslator.java:51)

at org.apache.beam.runners.dataflow.DataflowRunner$StreamingUnboundedRead$ReadWithIdsTranslator.translate(DataflowRunner.java:1590)

at org.apache.beam.runners.dataflow.DataflowRunner$StreamingUnboundedRead$ReadWithIdsTranslator.translate(DataflowRunner.java:1587)

at org.apache.beam.runners.dataflow.DataflowPipelineTranslator$Translator.visitPrimitiveTransform(DataflowPipelineTranslator.java:475)

at org.apache.beam.sdk.runners.TransformHierarchy$Node.visit(TransformHierarchy.java:665)

at org.apache.beam.sdk.runners.TransformHierarchy$Node.visit(TransformHierarchy.java:657)

at org.apache.beam.sdk.runners.TransformHierarchy$Node.visit(TransformHierarchy.java:657)

at org.apache.beam.sdk.runners.TransformHierarchy$Node.visit(TransformHierarchy.java:657)

at org.apache.beam.sdk.runners.TransformHierarchy$Node.visit(TransformHierarchy.java:657)

at org.apache.beam.sdk.runners.TransformHierarchy$Node.access$600(TransformHierarchy.java:317)

at org.apache.beam.sdk.runners.TransformHierarchy.visit(TransformHierarchy.java:251)

at org.apache.beam.sdk.Pipeline.traverseTopologically(Pipeline.java:460)
at org.apache.beam.runners.dataflow.DataflowPipelineTranslator$Translator.translate(DataflowPipelineTranslator.java:414)

at org.apache.beam.runners.dataflow.DataflowPipelineTranslator.translate(DataflowPipelineTranslator.java:173)

at org.apache.beam.runners.dataflow.DataflowRunner.run(DataflowRunner.java:763)
at org.apache.beam.runners.dataflow.DataflowRunner.run(DataflowRunner.java:186)

at org.apache.beam.sdk.Pipeline.run(Pipeline.java:315)
at org.apache.beam.sdk.Pipeline.run(Pipeline.java:301)

```

Imported from Jira [BEAM-9043](https://issues.apache.org/jira/browse/BEAM-9043). Original Jira may contain additional context.
Reported by: bhulette.