you cant tell if they are warped just by looking.
though, I doubt they are actually warped. most likely uneven friction material buildup. often caused by a bad, or non existent break in process.
the rotors can be resurfaced to solve this. however if you go that route, I would STRONGLY recommend to replace the pads at the same time.
even at only 5000 miles, the pads have worn into the rotor. once the rotors has been resurfaced, it will be perfectly flat and true. you want the pads to be the same.
you might be able to get away with sanding the pads against a perfectly flat background.