I've asked this on Stack Overflow, but so far no solution: 
http://stackoverflow.com/questions/36816530/why-does-adb-devices-show-unauthorized-with-no-allow-prompt-on-the-device

I've installed Android Studio 2.0 on my Windows 7 PC. This included the 
Android SDK. I've done Android development on this PC before using Eclipse 
+ ADT and an earlier version of Android Studio, which worked (at that 
time). I've uninstalled the old version of Android Studio and installed the 
new (current) version. Also, based on the prerequisites for Android Studio, 
I've installed Java J2SE 1.8.0 update 92 (JDK).

Now, when I attempt to connect to my phone (Samsung Galaxy S6) via USB, 
'adb devices' shows 'unauthorized' and I never receive a prompt on the 
phone to allow USB debugging.

I have USB configuration set to MTP and when I plug the phone into the USB 
cable, I get the auto-play prompt on the PC and I'm able to see device in 
Windows/Explorer and browse its directories, etc.

I've uninstalled the OEM USB drivers for my device and re-installed them. 
I've turned USB Debugging off/on. I've Revoked USB debugging authorization 
under developer options on the phone, I've run 'adb kill-server' and 'adb 
start-server'. I've tried different USB cables and ports. I've restarted 
both the computer and the phone. I've verified there is only one instance 
of 'adb.exe' on the PC and that it is in the location identified by 
ANDROID_SDK_HOME ($ANDROID_SDK_HOME/platform-tools/adb.exe).

There was a directory named .android in my $HOME directory which contained 
a lot of keys and configuration files, etc., so I uninstalled Android 
Studio again and manually moved that directory out of the way and then 
re-installed, but this didn't help.

I'm wondering if there is a setting on the PC (or phone) which tells adb 
that we don't need to prompt to allow USB debugging which needs to be 
cleared?

Can someone please help me?

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