Should i do camera calibration before stereo calibration?

Hello everyone, I would like your help with knowing if calibrating both cameras that are used in stereo vision ( meaning to do for each and every one of them camera calibration) and only then doing stereo calibration? p.s I would also very much appreciate tips about how to get a better depth map, we are currently on an average error of 0.17 pixels and have some difficulties getting a good and not noisy depth map. Thanks in advance, Ohad