Removing elements from vector

Hi there /prog/

I have a vector that looks like:
<code>
std::vector<Bullet> bullets;
</code>

My bullet struct contains the bullet ID, pixel data, and position.
I set the ID to bullets.size(); on creation.

Whenever a bullet is outside of the camera view, I call: (obviously inside of a loop)
<code>
bullets.erase(bullets.begin() + bullets[bi].ID);
</code>

This works pretty well, unless I spam bullets on the screen.  After a few bullets leave the screen, they all disappear.

What would be the best way to handle cleaning up my bullets?

well
vector are good for
     Accessing individual elements by their position index (constant time).
    Iterating over the elements in any order (linear time).
    Add and remove elements from its end (constant amortized time).
So if the bullets are not removed from the end it might just be slow