They were observing Venus from different places on earth and the different timings gave the distance to Venus via trigonometry and the fact that we knew the size of the earth. We also knew the proportions of the whole solar system, so knowing the distance to Venus told us the size of the whole solar system, including the earth’s distance from the sun. It actually didn’t work as well as hoped since it’s hard to see the exact instant when the edge of Venus touches the edge of the sun; the sun is so bright.
You say 17th century but Cook’s voyage was in 1769 … in the 18th century.
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