Fully relativistic first-principles electronic structure calculations based on a noncollinear local spin density approximation (LSDA) are performed for pyrochlore iridates Y$_2$Ir$_2$O$_7$ and Pr$_2$Ir$_2$O$_7$. The all-in, all-out antiferromagnetic
(AF) order is stablized by the on-site Coulomb repulsion $U>U_c$ in the LSDA+$U$ scheme, with $U_csim1.1$~eV and 1.3~eV for Y$_2$Ir$_2$O$_7$ and Pr$_2$Ir$_2$O$_7$, respectively. AF semimetals with and without Weyl points and then a topologically trivial AF insulator successively appear with further increasing $U$. For $U=1.3$~eV, Y$_2$Ir$_2$O$_7$ is a topologically trivial narrow-gap AF insulator having an ordered local magnetic moment $sim0.5mu_B$/Ir, while Pr$_2$Ir$_2$O$_7$ is barely a paramagnetic semimetal with electron and hole concentrations of $0.016$/Ir, in overall agreements with experiments. With decreasing oxygen position parameter $x$ describing the trigonal compression of IrO$_6$ octahedra, Pr$_2$Ir$_2$O$_7$ is driven through a non-Fermi-liquid semimetal having only an isolated Fermi point of $Gamma_8^+$, showing a quadratic band touching, to a $Z_2$ topological insulator.
