Hi jiehuai zhu ,
Yes, .sdcard image is generated by Yocto. You can look at the file below used in generation of the sdcard image:
sources/meta-fsl-bsp-release/imx/meta-bsp/classes/image_types_fsl.bbclass
You can check the steps used in the above file on how to create the sdcard image.
Regards,
Karan Gajjar