I agree, your brakes are warped. You can either have the rotors turned (if there is enough surface left) or replace the rotors.
1. Check the wheel bearings. Bad wheel bearings can cause brake warpage.
2. Check for rust on the hub where the back of the rotor sits against. A buildup of rust on the backing plate can cause brake warpage.
3. Like Tom in Tacoma said, brakes can also warp due to improper torquing of the lug nuts.
4. Check your slide pins on your calipers. If the calipers don't move freely, they can cause the brakes to warp.
5. If you replace the rotor, use a quality, well known brand name rotor.
The family Handyman magazine in their last issue just had a very good and detailed write up on brakes and how to not get ripped off. You can find the article at:
www.familyhandyman.com.