Basically, the rocket doesn't just fire in a straight line away from the Earth all the way into orbit. It starts arcing very soon into the ascent, and the thrust is nearly parallel to the Earth's surface for much of the journey.
http://forum.kerbalspaceprogram.com/threads/68502-WIP-Princi...
While Kerbal Space Program's physics simulation doesn't have Lagrange points, you can get a pretty good feel for how they work by performing any kind of in-orbit rendezvous.
Astronomical images always have been heavily edited and it never was "what you may see", but it is more so for JWST.
Edit: source http://coolcosmos.ipac.caltech.edu/cosmic_classroom/ir_tutor...
Regarding our atmosphere filtering IR: do you feel the heat of the sun when it shines on you? That's light. Infrared.
Edit: Additional point of fact: our atmosphere interferes with light by scattering it away from its angle of incidence. Light with a longer wavelength is able to get through without scattering (IR, red, orange, yellow, etc) light with a shorter wavelength (blue) is more likely to collide with a molecule of something on the way in, and it gets bounced around so frantically that all those blue light waves seem to kind of pile up and come from everywhere. No, our atmosphere's light transmission woes are much more deleterious to the smaller wavelengths of light than to IR.
Perhaps the sensors are discarding that frequency.