You can’t, not really. However, your brain will try to guess based on your experiences, shape, shadows, size… It’s the same as when you’re watching a movie: there’s no depth, but you can still tell that a building in the background is farther than the person speaking.
Try this: cover one of your eyes with an eye patch (pice of cloth for example). Stay that way for a bit, then try to reach for things (small, suspended ones worked well in my experience). You’ll see that while you have a general idea of how far things are, but trying to tell where they actually are in order to tell your hands where to go is a different matter.
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