you would need to get something like a power camander or something of the like for the bike, warranties are a fickle little thing, if you changed the mapping and the pipes etc and something went wrong with the engine they could try to make you eat it (really depends allot on the dealer) but if say your brakes went or any part that was not associted with the mod then no it would not. Some dealers are very mod friendly (can you say sales) but others are not so much.
PS someone might chime in here, but your efi will allow for certain mods without change, not certain about these pipes though.
