From resonant Raman scattering on isolated nanotubes we obtained the optical transition energies, the radial breathing mode frequency and Raman intensity of both metallic and semiconducting tubes. We unambiguously assigned the chiral index (n_1,n_2) of approximately 50 nanotubes based solely on a third-neighbor tight-binding Kataura plot and find omega_RBM=214.4cm^-1nm/d+18.7cm^-1. In contrast to luminescence experiments we observe all chiralities including zig-zag tubes. The Raman intensities have a systematic chiral-angle dependence confirming recent ab-initio calculations.