Some games on PS2 like Fatal Frame or Haunting Grounds are impressive even by today standards and could pass for double A games nowdays (entire 17 years later). That's just impressive. And their hardware specs read like a real spec for a gaming machine (the EE's 2 VPUs, the PSX in PS2 for compatibility, etc.), not just "bunch of PC CPUs and GPUs from AMD in a box + blueray drive". Ironically, first original XBox prototype was actually (I think or maybe its a rumor) made out of laptop components.
NES was a bit weak in comparison but very cheap (Pegasus costed like 50 PLN in the early 2000s).
That wasn't because the designs were more clever, mind you; but just because the hardware designers didn't need to think in terms of an architecture that contained concepts like dynamic frequency scaling and multi-monitor support and a kernel that blocks on disk IO. Consoles were hard real-time embedded systems, and the games were their unikernels; well into the PS2 era, console game were still relying on VBlank interrupts for physics timing!
And what this got you, was effects that were only achievable on an $8000 SGI workstation, for $300. Slightly-beyond-state-of-the-art, for cheap. But in exchange, it forced heavy consolidation in the console manufacturer market, because developing that specialized hardware wasn't cheap (like it was back in the 8-bit micro era.)
But "generic" PC GPUs eventually started scaling in power geometrically, to the point where the specialization and hard real-time guarantees just weren't needed any more to achieve modern graphics cheaply. The low-level-targeted specialized-graphics-ASIC technique wouldn't be of much benefit today, because six months later there'd be another new "generic" GPU out that could do what that ASIC does without breaking a sweat.
The same thing happened in networking: ASIC switches with special RTOSes were needed to run data centers—until CPUs and PCIe advanced enough to take over. Now everything (except Internet-backbone gear) is Software-Defined Networking, i.e. generic boxen running VMWare EXS running a Linux/BSD router VM.