And short answer, assuming you really only want the CDROM images (not DVD, not memory stick) and you want to base them on your current src and obj trees (not a clean environment to rebuild the "official" media), it's as simple as:
make -C release cdrom
But then, the manpage gives you all the possibilities you have
There are two ways of booting. One with a memory disk, your posting , the other media disk. For that you can go to
/usr/src. The latter uses "man mkimg".
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