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The motion tracking of the DS4 does not require any camera at all to work. They probably had something working playing with the current gyros metrics in the controller and tried to "fake" a depth feature. Probably why it ended up too janky,
In VR it is the headset that is tracked for all directions, the DS4 motion tracker still only uses the gyro sensors to work unrelated to the camera. the thing is why it works best in VR is that the VR headset takes care of the depth. DS4 were never linked to the PS4 Cam. The moves are, so moves can work in depth too. Moves combine gyro for rotation detection and tilt and use the PS4 Cam for directional tracking in all 6 directions (right-left, up-down, backward-forward).
That's how the technology works.