No no nooo ! Never, I mean never drain a battery empty by attaching a lamp bulb or any kind of "dumb" resistor to it : you'd destroy your battery pack for sure !
The only way to safely discharge a battery is to use a specialized discharger (some "smart" battery chargers can do that, too). The reason is that (electronics in) the camera will stop functioning under a certain voltage. Nevertheless, the battery is not really "empty" and if not properly drained from time to time it will develop a so-called "memory effect", preventing any further attempt of full re-charge and full dis-charge. Old-timers NiCd batteries are the most prone to this phenomenon, but more advanced ones still show this drawback.
Of course you could drain it down to zero volt using a lamp or a resistor, but this would destroy it because a NiCd, NiMH or Li-Ion cell must never fall under a certain voltage. In other words, pulled down to zero volt it dies (besides of that, there is a risk of fire by internal overheating, or even explosion).
That's the reason why various suppliers propose different battery dischargers to effectively and safely restore defective batteries back to a normal behaviour.
The second point is that a voltmeter will never tell you the level of charge (capacity) left in a battery : it will only show the level of tension (voltage) from which you cannot determine how long it can last ; advanced batteries like Li-On but also older Ni-XX still get a rather high voltage a long time, then it drops all at a sudden. Thus a voltage reading cannot help predicting the remaining life expectancy of a cell.
I don't intend to be rude
but - for your batteries' sake - remember : this is not an opinion or an advice, this is a warning !