Fully unroot requires a little bit of everything. There are two sides of the coin
1. Android
2. Device
Now SuperSu's unroot procedure basically removes the exploit which gave root access to begin with. So fully unrooted is from Android perspective. You lose access to the filesystem. Android will still show as 'Modified' under system status, so you will have to factory reset.
Now Android itself is unrooted. However, you device firmware has a root counter which will increase each time you root. This requires Triangle Away to reset. Otherwise all it would require to hide root would be trashing the OS, so Samsung came up with the whole counter bit.
So to summarize. To unroot for warranty you need
1. Triangle Away
2. Stock ROM flashed via Odin.
Triangle Away also needs root so what I do is usually run Triangle Away on the rooted phone and interrupt the boot after it finished, going straight into download mode and flash stock. Then from the recovery menu I do a full factory reset.
Big HOWEVER - IF you installed the latest MH8 (and others, depending on your carrier), it will now have additional security. The boot loader is locked and uses an additional counter - called KNOX security.
There is no way to reset it, downgrade or anything like that ... At the moment ... Worth posting your full details to see what the best cause of action. Is.