set intrinsic frame id when using custom calibration

[christian-rauch]

Fixes #209 Fixes #218

Description of the changes:

• sets the image header.frame_id when using the CameraInfoManager for custom calibrations

Required before submitting a Pull Request:

• [x] I reviewed CONTRIBUTING.md
• [x] I built my changes locally
• [x] I tested my changes with a device
• [ ] I changed both the ROS1 and ROS2 branches

I tested changes on:

• [ ] Windows
• [x] Linux
• [x] ROS1
• [ ] ROS2

[christian-rauch]

@amelhassan Can you have a look at this?

[ooeygui]

@christian-rauch Amel has moved teams. I have servicing the Kinect ROS node on my backlog.