When you say 'lucid' do you mean 'vivid' or 'aware that you're dreaming'? It sounds as though you mean the former, even though lucidity usually applies to the latter. They are different things. In fact, I often find they're reciprocal to one another. You can be entirely aware that you're asleep in bed while the world around you is dark and fuzzy, or you can be semi-lucid and believe that your actions have consequences while the world appears as vivid as in real life.