How to find a node in a XML file most efficiently (C++)?

I have a XML file might contain thousands of nodes like below.

<?xml version="1.0" encoding="utf-8"?>
<root>
    <node>
        <id>0</id>
        <value>data</value>
    </node>
    <node>
        <id>1</id>
        <value>data</value>
    </node>
    <node>
        <id>2</id>
        <value>data</value>
    </node>
</<root>

Each node has its "id" which guarantees be not duplicated to each other and possibly there are gaps between them. My question is what is most efficient way by using boost to search a certain node by using node's id?

Thanks.