I need advice about a guy?

I met this guy last semester in class and I like him. We went on a class trip together recently and it was a little awkward because we acted like we didn't know each other when we got together all last semester to work on homework. He would also talk to me online. While on the trip, this other girl started talking to him and followed him constantly everywhere we went. She wouldn't leave his side.. and I felt like I lost my chance with him just because I was too shy. Now back from the trip, I am wondering what I should do. I still think I like him.. but now this other girl is in the picture. I am thinking about asking to hang out, but im not sure he is remotely interested anymore since we didn't talk much on the trip reason being the other girl was always right next to him making me feel intimidated. What should I do? Just give up on this or try to pursue our friendship further? Thanks:)