When I\'m using a rooted Android device as ADB host to send adb command \"adb devices\" to Samsung S4, I received device unauthorized error message. However when I tried adb
Have you tried
adb kill-server adb shell
Sometimes adb gets stuck and first killing adb server and then starting some command forces authorization window to pop-up.
Also please check adb client version on your phone. THis feature is supported from adb 1.0.31 as far as I remember.