There was a similar question but it went unresolved:
W/CameraBase﹕ An error occurred while connecting to camera: 0 on camera.open() call
I have an app which
Beginning in Android 6.0 (API level 23), users grant permissions to apps while the app is running, not when they install the app. This approach streamlines the app install process, since the user does not need to grant permissions when they install or update the app. It also gives the user more control over the app's functionality; for example, a user could choose to give a camera app access to the camera but not to the device location. The user can revoke the permissions at any time, by going to the app's Settings screen. http://developer.android.com/training/permissions/requesting.html
The "fail to connect to camera service" means that your (or some other) camera app has failed to release camera properly. This was happening to me occasionally as I was developing my app, too. The first thing I'd try is to open the camera from the default camera app that comes with the phone (just tapping the "camera" button). If that would fail to open, then the only option was to restart the phone.
This is speculation, but your code might have a bug that surfaces only occasionally and it just didn't appear until now through pure luck. If it persist, check out the questions related to "how to release camera properly in android". They had helped me to deal with this.
I don't know if this is your case but it just happened to me so I thought I'd share it. My app was doing the same thing (although I had a try surrounding Camera.open() so I didn't see it at first) BUT I did what panonski said and turned the camera on from the system camera app and saw that it was using the front facing camera. Switching it back to the rear camera allowed my app to work again.
I changed from using Camera.open() to Camera.open(Camera.CameraInfo.CAMERA_FACING_BACK) and now this works no matter how the camera was left before. (Using Galaxy Note 4).
Hopefully this helps.