Combine Multiple Empties into Vertex Points (to create a Useful Mesh after tracking)

After tracking a shot in Syntheyes, I’ve exported the solution to Blender (2.76) which gives me an animated camera and what is, in essence, a “point cloud of empties.” I’d like to convert these empties to vertex points under a single object, at which point I’ll manually create a mesh to create what I need for the digital version of the shot.

In the past I’ve created this mesh in Syntheyes, but this is a more complicated surface, and I can do much cleaner meshing in Blender. I thought I came across a script for this years ago, but I can’t find it anymore. Does anyone know a way to convert multiple empties into vertex points for a single object? Thanks for any help!