No it doesn't, but it all depends on their mood, as you know.
Odin is used by Samsung Service Centres too. If you install an official rom, like this Lollipop or any other appropriate stock rom, properly. Your device status will stay 'official' in settings > about device > status and also in download mode, which will state
Current Binary: Samsung official
System status: official
Knox warranty void: 0x0
Which reveals that its in 100% official state and the phone will even update OTA, indicating that its recognised as 100% official by Samsung OTA update servers too.
So, how can they void the warranty?[emoji12]