BUG: pd.concat raises if called on mixture of empty and non-empty dataframes
I noticed a change in how pd.concat works between 0.20.3 and 0.21.0:

```python
import pandas as pd

df1 = pd.DataFrame({'foo': [1]})
df2 = pd.DataFrame({'foo': []})

res = pd.concat([df1, df2])
```

This example does not raise an exception in 0.20.3. In 0.21.0, it raises the following error:

```
Traceback (most recent call last):
  File "test.py", line 6, in <module>
    res = pd.concat([df1, df2])
  File "/homes/joewag/miniconda3/envs/py3/lib/python3.6/site-packages/pandas/core/reshape/concat.py", line 213, in concat
    return op.get_result()
  File "/homes/joewag/miniconda3/envs/py3/lib/python3.6/site-packages/pandas/core/reshape/concat.py", line 408, in get_result
    copy=self.copy)
  File "/homes/joewag/miniconda3/envs/py3/lib/python3.6/site-packages/pandas/core/internals.py", line 5202, in concatenate_block_managers
    return BlockManager(blocks, axes)
  File "/homes/joewag/miniconda3/envs/py3/lib/python3.6/site-packages/pandas/core/internals.py", line 3028, in __init__
    self._verify_integrity()
  File "/homes/joewag/miniconda3/envs/py3/lib/python3.6/site-packages/pandas/core/internals.py", line 3239, in _verify_integrity
    construction_error(tot_items, block.shape[1:], self.axes)
  File "/homes/joewag/miniconda3/envs/py3/lib/python3.6/site-packages/pandas/core/internals.py", line 4603, in construction_error
    passed, implied))
ValueError: Shape of passed values is (1, 1), indices imply (1, 0)
```


#### Expected Output
I would expect no error, and all(res==df1) to be true

#### Output of ``pd.show_versions()``

<details>

[paste the output of ``pd.show_versions()`` here below this line]
INSTALLED VERSIONS
------------------
commit: None
python: 3.6.2.final.0
python-bits: 64
OS: Linux
OS-release: 2.6.32-696.1.1.el6.centos.plus.x86_64
machine: x86_64
processor: x86_64
byteorder: little
LC_ALL: None
LANG: en_US.UTF-8
LOCALE: en_US.UTF-8

pandas: 0.21.0
pytest: 3.2.3
pip: 9.0.1
setuptools: 36.2.2.post20170724
Cython: 0.26
numpy: 1.13.3
scipy: 0.19.1
pyarrow: None
xarray: None
IPython: 6.1.0
sphinx: 1.6.4
patsy: 0.4.1
dateutil: 2.6.1
pytz: 2017.2
blosc: None
bottleneck: None
tables: 3.4.0
numexpr: 2.6.2
feather: None
matplotlib: None
openpyxl: None
xlrd: 1.1.0
xlwt: None
xlsxwriter: 1.0.2
lxml: None
bs4: 4.6.0
html5lib: None
sqlalchemy: 1.1.14
pymysql: 0.7.11.None
psycopg2: None
jinja2: 2.9.6
s3fs: None
fastparquet: None
pandas_gbq: None
pandas_datareader: None

</details>
