## What changes were proposed in this pull request?
We added a method to the scala API for creating a `DataFrame` from `DataSet[String]` storing CSV in [SPARK-15463](https://issues.apache.org/jira/browse/SPARK-15463) but PySpark doesn't have `Dataset` to support this feature. Therfore, I add an API to create a `DataFrame` from `RDD[String]` storing csv and it's also consistent with PySpark's `spark.read.json`.

For example as below
```
>>> rdd = sc.textFile('python/test_support/sql/ages.csv')
>>> df2 = spark.read.csv(rdd)
>>> df2.dtypes
[('_c0', 'string'), ('_c1', 'string')]
```
## How was this patch tested?
add unit test cases.

Author: goldmedal <liugs963@gmail.com>

Closes #19339 from goldmedal/SPARK-22112.