I think you all missed one part of benhnat's post. He was talking about a WILD experience and when you're doing WILD, you don't have to realize that you're dreaming because you're conscious all the time and you don't lose your consciousness when you enter the dream.

What I understood is that the dream you talk about was during the WILD attempt. Am I right? In that case I think the real question is whether you were already in the dream or if those were just hypnagogic imagery before the real dream.

Anyway, if you was already in the dream, it was definitely a lucid dream because you knew that you was dreaming.

Semi-lucid doesn't mean that you'd have less control. It means a dream where you begin to have an idea that you might be dreaming but for some reason abandon the idea or come to a conclusion that you're not dreaming. At least that's what I've understood.

I hope this helps even a bit.