That's an excellent question, and it will be a judgement call for each person.
I grew up around brooks and streams, so have developed a good sense of my own comfort level just by looking at one whether it's ford-able with a degree of safety, but generally speaking:
- Your safety margin is increased greatly if you have poles.
- If the water is approaching your knees before you're at mid-stream, reconsider.
- Regardless of depth, if the current is making you unsteady, reconsider.
- If the water is cold, and you begin to loose feeling - turn back quickly. Really tough to stand-up if you can't feel your feet, and the loss of feeling can occur rapidly in these conditions.
- Loosen/undo the straps on your pack. People have downed by falling in, getting their pack snagged, and been unable to undo the straps. I saw this nearly happen to a fellow in less than a foot of water, but ... it was February, frightfully cold, and he panicked. Fortunately, 2 in the group were fireman/EMT's and he was out of the brook in a heartbeat.