Is it permissible to pray over a deceased Muslim who did not pray during his lifetime?

Whoever dies and was not praying:

Either he was denying its obligation, and such a person is a disbeliever; it is not permissible to pray over him nor to seek forgiveness for him.

Or he was affirming its obligation but abandoned it out of laziness; in this case, there is a difference of opinion regarding his disbelief. Those who rule him a disbeliever say that he should not be prayed over. Those who do not consider him a disbeliever (and they are the majority) say that he should be prayed over.