How to convert transformation matrix to extrinsic parameters?

### Checklist

- [X] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### My Question

I get a transformation matrix through the software, which can transform the point cloud A to the position of point cloud B.
like this:
`A.transform(M)`
But when I apply M to TSDF fusion there is a problem:
`volume.integrate(rgbd, intrinsic, M)`
or
`volume.integrate(rgbd, intrinsic, np.linalg.inv(M))`
Two point clouds cannot overlap，I spent a lot of time but didn't solve the problem.
I wonder if I can get the parameters needed for ScalableTSDFVolume.integrate() by converting the matrix M.