I'm 5'10" and about the same inseam. I ride a 56cm seat tube and like a 56cm top tube. That frame looks to me to be a 54cm seat tube but the seller says it's a 52 by his measurement. Normally I'd say it's too small but I'm not sure the seller measured well and the top tube looks long so it will work if that's the case. I'd ask the seller how it was measured before I bought it.
also, check out the fit calculator bbattle suggested.