Judging - related to tell right and wrong
Condemn - related to punishment
Judging and condemning are usually coming from feeling being offended, so Luke relate this topic to "forgiveness".
-Matthew 7:1-6
-John 8:4-11
Where a prostitute was brought to Jesus to be stoned, Jesus said "If any one of you is without sin, let him be the first to throw a stone at her." Because this case is the same as a blind man trying to judge others.
